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%20training%20and%20testing.%20CRITICAL%20stands%20out%20for%20its%20ability%20to%20generate%20diverse%20scenarios%2C%20focusing%20on%20critical%20driving%20situations%20that%20target%20specific%20learning%20and%20performance%20gaps%20identified%20in%20the%20Reinforcement%20Learning%20(RL)%20agent.%20The%20framework%20achieves%20this%20by%20integrating%20real-world%20traffic%20dynamics%2C%20driving%20behavior%20analysis%2C%20surrogate%20safety%20measures%2C%20and%20an%20optional%20Large%20Language%20Model%20(LLM)%20component.%20It%20is%20proven%20that%20the%20establishment%20of%20a%20closed%20feedback%20loop%20between%20the%20data%20generation%20pipeline%20and%20the%20training%20process%20can%20enhance%20the%20learning%20rate%20during%20training%2C%20elevate%20overall%20system%20performance%2C%20and%20augment%20safety%20resilience.%20Our%20evaluations%2C%20conducted%20using%20the%20Proximal%20Policy%20Optimization%20(PPO)%20and%20the%20HighwayEnv%20simulation%20environment%2C%20demonstrate%20noticeable%20performance%20improvements%20with%20the%20integration%20of%20critical%20case%20generation%20and%20LLM%20analysis%2C%20indicating%20CRITICAL's%20potential%20to%20improve%20the%20robustness%20of%20AV%20systems%20and%20streamline%20the%20generation%20of%20critical%20scenarios.%20This%20ultimately%20serves%20to%20hasten%20the%20development%20of%20AV%20agents%2C%20expand%20the%20general%20scope%20of%20RL%20training%2C%20and%20ameliorate%20validation%20efforts%20for%20AV%20safety.)
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