End-to-end autonomous driving has emerged as a promising paradigm for directly mapping sensor inputs to planning maneuvers using learning-based modular integrations. However, existing imitation learning (IL)-based models suffer from generalization to hard cases, and a lack of corrective feedback loop under post-deployment. While reinforcement learning (RL) offers a potential solution to tackle hard cases with optimality, it is often hindered by overfitting to specific driving cases, resulting in catastrophic forgetting of generalizable knowledge and sample inefficiency. To overcome these challenges, we propose Reinforced Refinement with Self-aware Expansion (R2SE), a novel learning pipeline that constantly refines hard domain while keeping generalizable driving policy for model-agnostic end-to-end driving systems. Through reinforcement fine-tuning and policy expansion that facilitates continuous improvement, R2SE features three key components: 1) Generalist Pretraining with hard-case allocation trains a generalist imitation learning (IL) driving system while dynamically identifying failure-prone cases for targeted refinement; 2) Residual Reinforced Specialist Fine-tuning optimizes residual corrections using reinforcement learning (RL) to improve performance in hard case domain while preserving global driving knowledge; 3) Self-aware Adapter Expansion dynamically integrates specialist policies back into the generalist model, enhancing continuous performance improvement. Experimental results in closed-loop simulation and real-world datasets demonstrate improvements in generalization, safety, and long-horizon policy robustness over state-of-the-art E2E systems, highlighting the effectiveness of reinforce refinement for scalable autonomous driving.

Comprehensive evaluation of Multimodal Large Language Models (MLLMs) has recently garnered widespread attention in the research community. However, we observe that existing benchmarks present several common barriers that make it difficult to measure the significant challenges that models face in the real world, including: 1) small data scale leads to a large performance variance; 2) reliance on model-based annotations results in restricted data quality; 3) insufficient task difficulty, especially caused by the limited image resolution. To tackle these issues, we introduce MME-RealWorld. Specifically, we collect more than $300$ K images from public datasets and the Internet, filtering $13,366$ high-quality images for annotation. This involves the efforts of professional $25$ annotators and $7$ experts in MLLMs, contributing to $29,429$ question-answer pairs that cover $43$ subtasks across $5$ real-world scenarios, extremely challenging even for humans. As far as we know, **MME-RealWorld is the largest manually annotated benchmark to date, featuring the highest resolution and a targeted focus on real-world applications**. We further conduct a thorough evaluation involving $29$ prominent MLLMs, such as GPT-4o, Gemini 1.5 Pro, and Claude 3.5 Sonnet. Our results show that even the most advanced models struggle with our benchmarks, where none of them reach 60\% accuracy. The challenges of perceiving high-resolution images and understanding complex real-world scenarios remain urgent issues to be addressed. The data and evaluation code are released in our Project Page.

Existing efforts to align multimodal large language models (MLLMs) with human preferences have only achieved progress in narrow areas, such as hallucination reduction, but remain limited in practical applicability and generalizability. To this end, we introduce **MM-RLHF**, a dataset containing **120k** fine-grained, human-annotated preference comparison pairs. This dataset represents a substantial advancement over existing resources, offering superior size, diversity, annotation granularity, and quality. Leveraging this dataset, we propose several key innovations to improve both the quality of reward models and the efficiency of alignment algorithms. Notably, we introduce the **Critique-Based Reward Model**, which generates critiques of model outputs before assigning scores, offering enhanced interpretability and more informative feedback compared to traditional scalar reward mechanisms. Additionally, we propose **Dynamic Reward Scaling**, a method that adjusts the loss weight of each sample according to the reward signal, thereby optimizing the use of high-quality comparison pairs. Our approach is rigorously evaluated across **10** distinct dimensions, encompassing **27** benchmarks, with results demonstrating significant and consistent improvements in model performance (Figure.1).