{"id":"https://openalex.org/W7162099304","doi":"https://doi.org/10.48550/arxiv.2605.22748","title":"Superhuman Safe and Agile Racing through Multi-Agent Reinforcement Learning","display_name":"Superhuman Safe and Agile Racing through Multi-Agent Reinforcement Learning","publication_year":2026,"publication_date":"2026-05-21","ids":{"openalex":"https://openalex.org/W7162099304","doi":"https://doi.org/10.48550/arxiv.2605.22748"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.22748","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.22748","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2605.22748","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5092418578","display_name":"Ismail Geles","orcid":"https://orcid.org/0009-0006-2940-0675"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Geles, Ismail","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128630354","display_name":"Leonard Bauersfeld","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Bauersfeld, Leonard","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002747297","display_name":"Markus Wulfmeier","orcid":"https://orcid.org/0000-0003-1802-4492"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wulfmeier, Markus","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5136769539","display_name":"Davide Scaramuzza","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Scaramuzza, Davide","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.5220000147819519,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.5220000147819519,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.09229999780654907,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11689","display_name":"Adversarial Robustness in Machine Learning","score":0.04019999876618385,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.7443000078201294},{"id":"https://openalex.org/keywords/safer","display_name":"SAFER","score":0.5947999954223633},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.5443000197410583},{"id":"https://openalex.org/keywords/agile-software-development","display_name":"Agile software development","score":0.5164999961853027},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.4490000009536743},{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.43320000171661377},{"id":"https://openalex.org/keywords/isolation","display_name":"Isolation (microbiology)","score":0.36340001225471497},{"id":"https://openalex.org/keywords/aerodynamics","display_name":"Aerodynamics","score":0.3630000054836273}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7443000078201294},{"id":"https://openalex.org/C2776654903","wikidata":"https://www.wikidata.org/wiki/Q2601463","display_name":"SAFER","level":2,"score":0.5947999954223633},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.5443000197410583},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.5254999995231628},{"id":"https://openalex.org/C14185376","wikidata":"https://www.wikidata.org/wiki/Q30232","display_name":"Agile software development","level":2,"score":0.5164999961853027},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.4490000009536743},{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.43320000171661377},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.42309999465942383},{"id":"https://openalex.org/C178802073","wikidata":"https://www.wikidata.org/wiki/Q8421","display_name":"Aeronautics","level":1,"score":0.3921000063419342},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3919999897480011},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.37070000171661377},{"id":"https://openalex.org/C2775941552","wikidata":"https://www.wikidata.org/wiki/Q25212305","display_name":"Isolation (microbiology)","level":2,"score":0.36340001225471497},{"id":"https://openalex.org/C13393347","wikidata":"https://www.wikidata.org/wiki/Q8424","display_name":"Aerodynamics","level":2,"score":0.3630000054836273},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.35679998993873596},{"id":"https://openalex.org/C1034443","wikidata":"https://www.wikidata.org/wiki/Q2583685","display_name":"Propulsion","level":2,"score":0.3562000095844269},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3345000147819519},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3278999924659729},{"id":"https://openalex.org/C2988296547","wikidata":"https://www.wikidata.org/wiki/Q471145","display_name":"Air combat","level":2,"score":0.2930000126361847},{"id":"https://openalex.org/C67203356","wikidata":"https://www.wikidata.org/wiki/Q1321905","display_name":"Reinforcement","level":2,"score":0.2856000065803528},{"id":"https://openalex.org/C2776544517","wikidata":"https://www.wikidata.org/wiki/Q189447","display_name":"Unexpected events","level":2,"score":0.27889999747276306},{"id":"https://openalex.org/C2777211547","wikidata":"https://www.wikidata.org/wiki/Q17141490","display_name":"Training (meteorology)","level":2,"score":0.2759999930858612},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2655999958515167},{"id":"https://openalex.org/C132557482","wikidata":"https://www.wikidata.org/wiki/Q3299483","display_name":"Aerodynamic force","level":3,"score":0.2538999915122986},{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.2513999938964844}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.22748","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.22748","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2605.22748","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.22748","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Autonomous":[0],"systems":[1],"have":[2],"achieved":[3],"superhuman":[4],"performance":[5],"in":[6,14,112,158,163],"isolation":[7],"or":[8,35],"simulation,":[9],"yet":[10],"they":[11],"remain":[12],"brittle":[13],"shared,":[15],"dynamic":[16],"real-world":[17,57],"spaces.":[18],"This":[19],"failure":[20],"stems":[21],"from":[22],"the":[23,51,150,164],"dominant":[24],"single-agent":[25,131],"paradigm":[26],"for":[27,56],"physical":[28,100],"applications,":[29],"where":[30],"other":[31],"actors":[32],"are":[33,172],"ignored":[34],"treated":[36],"as":[37,63],"environmental":[38],"noise,":[39],"preventing":[40],"effective":[41],"coordination.":[42],"Here":[43],"we":[44,67],"show":[45],"that":[46,149],"multi-agent":[47,99,168],"reinforcement":[48],"learning":[49],"provides":[50],"essential":[52],"safety":[53,160],"scaffolding":[54],"required":[55],"interaction.":[58,145,169],"Using":[59],"high-speed":[60],"quadrotor":[61],"racing":[62],"a":[64,79,108],"high-stakes":[65],"testbed,":[66],"train":[68],"agents":[69,87,106,138],"to":[70,129,142,152],"navigate":[71],"complex":[72],"aerodynamic":[73,103],"interactions":[74],"and":[75,97],"strategic":[76],"maneuvering":[77],"with":[78,135],"variable":[80],"number":[81],"of":[82,167],"racers.":[83],"Through":[84],"league-based":[85],"self-play,":[86],"evolve":[88],"sophisticated":[89],"anticipatory":[90],"behaviors,":[91],"including":[92,102],"proactive":[93],"collision":[94,123],"avoidance,":[95],"overtaking,":[96],"handling":[98],"interactions,":[101],"downwash.":[104],"Our":[105],"outperform":[107],"champion-level":[109],"human":[110,144],"pilot":[111],"multi-player":[113],"races":[114],"at":[115],"speeds":[116],"exceeding":[117],"22":[118],"m/s,":[119],"while":[120],"simultaneously":[121],"reducing":[122],"rates":[124],"by":[125],"50":[126],"%":[127],"compared":[128],"state-of-the-art":[130],"baselines.":[132],"Crucially,":[133],"training":[134],"diverse":[136],"artificial":[137],"enables":[139],"zero-shot":[140],"generalization":[141],"safer":[143],"These":[146],"results":[147],"suggest":[148],"path":[151],"robust":[153],"robotic":[154],"co-existence":[155],"lies":[156],"not":[157],"isolated":[159],"constraints,":[161],"but":[162],"rigorous":[165],"demands":[166],"Multimedia":[170],"materials":[171],"available":[173],"at:":[174],"https://rpg.ifi.uzh.ch/marl":[175]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-05-23T00:00:00"}