Tianyi Wang
Publications
Found-RL: foundation model-enhanced reinforcement learning for autonomous driving
Reinforcement Learning (RL) has emerged as a dominant paradigm for end-to-end autonomous driving (AD). However, RL suffers from sample inefficiency and a lack of semantic interpretability in complex scenarios. Foundation Models, particularly Vision-Language Models (VLMs), can mitigate this by offering rich, context-aware knowledge, yet their high inference latency hinders deployment in high-frequency RL training loops. To bridge this gap, we present Found-RL, a platform tailored to efficiently enhance RL for AD using foundation models. A core innovation is the asynchronous batch inference framework, which decouples heavy VLM reasoning from the simulation loop, effectively resolving latency bottlenecks to support real-time learning. We introduce diverse supervision mechanisms: Value-Margin Regularization (VMR) and Advantage-Weighted Action Guidance (AWAG) to effectively distill expert-like VLM action suggestions into the RL policy. Additionally, we adopt high-throughput CLIP for dense reward shaping. We address CLIP's dynamic blindness via Conditional Contrastive Action Alignment, which conditions prompts on discretized speed/command and yields a normalized, margin-based bonus from context-specific action-anchor scoring. Found-RL provides an end-to-end pipeline for fine-tuned VLM integration and shows that a lightweight RL model can achieve near-VLM performance compared with billion-parameter VLMs while sustaining real-time inference (approx. 500 FPS). Code, data, and models will be publicly available at https://github.com/ys-qu/found-rl.
Do VLMs Have a Moral Backbone? A Study on the Fragile Morality of Vision-Language Models
Despite substantial efforts toward improving the moral alignment of Vision-Language Models (VLMs), it remains unclear whether their ethical judgments are stable in realistic settings. This work studies moral robustness in VLMs, defined as the ability to preserve moral judgments under textual and visual perturbations that do not alter the underlying moral context. We systematically probe VLMs with a diverse set of model-agnostic multimodal perturbations and find that their moral stances are highly fragile, frequently flipping under simple manipulations. Our analysis reveals systematic vulnerabilities across perturbation types, moral domains, and model scales, including a sycophancy trade-off where stronger instruction-following models are more susceptible to persuasion. We further show that lightweight inference-time interventions can partially restore moral stability. These results demonstrate that moral alignment alone is insufficient and that moral robustness is a necessary criterion for the responsible deployment of VLMs.