Reinforcement learning for driving: PPO vs GRPO and a speed-limit reward

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Questions on reinforcement learning for a driving policy:

  1. How do GRPO and PPO differ?
  2. When would you choose a hand-written heuristic reward over a learned reward model, and the reverse?
  3. Implement a reward that keeps the vehicle at or under the speed limit, computed over batched trajectories of shape [batch, num_waypoints, ...].
TeslaTechnical phone screenLast asked Feb 2026
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