Author

Feeza Khan Khanzada

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Preprint Sep 2026

BranchDrive: A Branch-Structured Dataset for Action-Conditioned Driving Prediction

Most autonomous-driving datasets record only the action executed by a behavior policy and the single future that followed, providing limited supervision for comparing alternative ego decisions. We introduce BranchDrive, a branch-structured CARLA dataset and benchmark that pairs one canonical pre-decision history with o...

Feeza Khan Khanzada, S. Sridhar, Jaerock Kwon · 0 citations

Review Open access Sep 2025

A Comprehensive Review of Reinforcement Learning for Autonomous Driving in the CARLA Simulator

A comprehensive review of approximately 100 peer-reviewed studies that apply RL in the CARLA simulator shows that model-free RL overwhelmingly dominates the field, accounting for more than 80% of existing studies, with DQN, PPO, and SAC being the most frequently adopted algorithms.

Elahe Delavari, Feeza Khan Khanzada, Jaerock Kwon · IEEE Access · 12 citations