# Learning to Tune Pure Pursuit in Autonomous Racing: Joint Lookahead and Steering-Gain Control with PPO

arXiv: https://arxiv.org/abs/2602.18386 · HTML: https://mlsanity.com/paper/2602.18386/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 7 of its 26 references that are in the map.
- First posted on arXiv 20 Feb 2026.

## Builds on (most cited first, 7 of 7)

- [Proximal Policy Optimization Algorithms](https://mlsanity.com/paper/1707.06347/) (2017)
- [Continuous control with deep reinforcement learning](https://mlsanity.com/paper/1509.02971/) (2015)
- [Optuna: A Next-generation Hyperparameter Optimization Framework](https://mlsanity.com/paper/1907.10902/) (2019)
- [Asynchronous Methods for Deep Reinforcement Learning](https://mlsanity.com/paper/1602.01783/) (2016)
- [How Simulation Helps Autonomous Driving:A Survey of Sim2real, Digital Twins, and Parallel Intelligence](https://mlsanity.com/paper/2305.01263/) (2023)
- [CDDT: Fast Approximate 2D Ray Casting for Accelerated Localization](https://mlsanity.com/paper/1705.01167/) (2017)
- [Reward Bonuses with Gain Scheduling Inspired by Iterative Deepening Search](https://mlsanity.com/paper/2212.10765/) (2022)

## Abstract (arXiv)

Pure Pursuit (PP) is widely used in autonomous racing for real-time path tracking due to its efficiency and geometric clarity, yet performance is highly sensitive to how key parameters-lookahead distance and steering gain-are chosen. Standard velocity-based schedules adjust these only approximately and often fail to transfer across tracks and speed profiles. We propose a reinforcement-learning (RL) approach that jointly chooses the lookahead Ld and a steering gain g online using Proximal Policy Optimization (PPO). The policy observes compact state features (speed and curvature taps) and outputs (Ld, g) at each control step. Trained in F1TENTH Gym and deployed in a ROS 2 stack, the policy drives PP directly (with light smoothing) and requires no per-map retuning. Across simulation and real-car tests, the proposed RL-PP controller that jointly selects (Ld, g) consistently outperforms fixed-lookahead PP, velocity-scheduled adaptive PP, and an RL lookahead-only variant, and it also exceeds a kinematic MPC raceline tracker under our evaluated settings in lap time, path-tracking accuracy, and steering smoothness, demonstrating that policy-guided parameter tuning can reliably improve classical geometry-based control.