Comfort by Construction: Adaptive, Comfort-Bounded Action Spaces for Learned Driving Policies

Driving policies trained in simulators can inflate their safety scores with sudden, jerky moves no passenger would accept. This paper redraws the set of allowed controls at every step so they stay inside comfort limits, which tighten as speed rises. On Waymo driving data, comfort violations stayed under 1% and the policy still navigated better than the baselines. Authors: Anna Rothenhäusler, Daniel Jost, Raghu Rajan, Faris Janjos, Oliver Scheel, Andreas Look, Joschka Boedecker Paper: https://arxiv.org/abs/2609.13011v1