ParkingWorld: End-to-End Autonomous Parking Reinforcement Learning from Corrective Experience in 3DGS Simulation

Autonomous parking demands precise low-speed maneuvering within narrow, cluttered, and highly constrained environments, where vehicles must navigate tight spaces while avoiding static obstacles and complex geometric boundaries. Unlike imitation learning, which typically requires massive volumes of high-quality expert demonstrations to converge to a stable policy and often suffers from limited generalization to unseen scenarios, traditional reinforcement learning (RL) methods face persistent challenges including excessive training overhead, inefficient exploration, and even failure to learn viable parking strategies in challenging settings. To address these limitations, this paper presents a correction-in-the-loop sample-efficient reinforcement learning (CIL-SERL) framework for end-to-end autonomous parking, which is entirely trained in a photorealistic 3D Gaussian Splatting (3DGS) parking simulator that enables high-fidelity digital reconstruction of real-world scenes. Inspired by error-correction notebooks used in learning practice, we design a novel multi-level replay buffer mechanism. These buffers hierarchically organize and store standard RL rollouts, human corrective interventions, failed exploration trajectories, and rollback-based correction segments in separate yet interconnected memory regions, facilitating structured sampling and targeted learning during training. The proposed framework is systematically evaluated in both the 3DGS simulation environment and a physical vehicle platform. Extensive experimental results demonstrate that our method achieves substantial improvements in parking success rate, operational efficiency, and safety performance across diverse scenarios, validating the effectiveness and practical applicability of the proposed CIL-SERL-based end-to-end autonomous parking solution.

JoyAI-RA 0.1: A Foundation Model for Robotic Autonomy

Robotic autonomy in open-world environments is fundamentally limited by insufficient data diversity and poor cross-embodiment generalization. Existing robotic datasets are often limited in scale and task coverage, while relatively large differences across robot embodiments impede effective behavior knowledge transfer. To address these challenges, we propose JoyAI-RA, a vision-language-action (VLA) embodied foundation model tailored for generalizable robotic manipulation. JoyAI-RA presents a multi-source multi-level pretraining framework that integrates web data, large-scale egocentric human manipulation videos, simulation-generated trajectories, and real-robot data. Through training on heterogeneous multi-source data with explicit action-space unification, JoyAI-RA effectively bridges embodiment gaps, particularly between human manipulation and robotic control, thereby enhancing cross-embodiment behavior learning. JoyAI-RA outperforms state-of-the-art methods in both simulation and real-world benchmarks, especially on diverse tasks with generalization demands.