A Curriculum Approach to Reduce the Dynamics-Related Reality Gap in Autonomous Driving Decision-Making

Decision-making is a fundamental component of autonomous driving, where complex urban scenarios require safe, robust, and adaptable behaviours. This work presents a curriculum learning approach to reduce the dynamics-related reality gap in autonomous driving decision-making through a hybrid architecture that combines learning-based tactical decisions with classical planning and control methods. The proposed methodology follows a staged sim-to-real process: first, the decision-making policies are trained in a lightweight simulator to learn basic kinematic behaviours; then, they are transferred and refined in CARLA to account for vehicle dynamics; subsequently, a digital twin of the real platform and test environment is used for scenario-specific fine-tuning; finally, the resulting architecture is validated through parallel execution with a real vehicle. The proposed approach focuses on vehicle dynamics, actuation response, and scenario geometry rather than on the complete sim-to-real problem for autonomous driving. The approach is evaluated across multiple urban driving scenarios in simulation, including lane changing, roundabouts, merging, and crossroads, while real-world validation is conducted in a controlled merge scenario. Experimental results show that the proposed curriculum improves training efficiency and final performance across the different stages, achieving success rates above 91% in SMARTS. In CARLA, the proposed architecture completes the evaluated scenarios up to 50% faster than the Autopilot baseline while improving comfort and safety-related metrics in terms of acceleration and jerk. The real-world parallel execution experiment further demonstrates the feasibility of transferring the decision-making architecture to a physical vehicle under controlled conditions. Finally, an ablation study quantifies the contribution of each curriculum stage to the overall system performance.