相关论文: Rethinking the Open-Loop Evaluation of End-to-End …

End-to-end autonomous driving recently emerged as a promising research direction to target autonomy from a full-stack perspective. Along this line, many of the latest works follow an open-loop evaluation setting on nuScenes to study the…

The release of nuPlan marks a new era in vehicle motion planning research, offering the first large-scale real-world dataset and evaluation schemes requiring both precise short-term planning and long-horizon ego-forecasting. Existing…

Machine Learning (ML) has replaced traditional handcrafted methods for perception and prediction in autonomous vehicles. Yet for the equally important planning task, the adoption of ML-based techniques is slow. We present nuPlan, the…

Real-world autonomous driving systems must make safe decisions in the face of rare and diverse traffic scenarios. Current state-of-the-art planners are mostly evaluated on real-world datasets like nuScenes (open-loop) or nuPlan…

Current autonomous driving systems are composed of a perception system and a decision system. Both of them are divided into multiple subsystems built up with lots of human heuristics. An end-to-end approach might clean up the system and…

In this work, we propose the world's first closed-loop ML-based planning benchmark for autonomous driving. While there is a growing body of ML-based motion planners, the lack of established datasets and metrics has limited the progress in…

We present a new interaction mechanism of prediction and planning for end-to-end autonomous driving, called PPAD (Iterative Interaction of Prediction and Planning Autonomous Driving), which considers the timestep-wise interaction to better…

In the context of urban autonomous driving, imitation learning-based methods have shown remarkable effectiveness, with a typical practice to minimize the discrepancy between expert driving logs and predictive decision sequences. As expert…

Conventional end-to-end autonomous driving methods often rely on explicit global scene representations, which typically consist of 3D object detection, online mapping, and motion prediction. In contrast, human drivers selectively attend to…

End-to-end autonomous driving has received increasing attention due to its potential to learn from large amounts of data. However, most existing methods are still open-loop and suffer from weak scalability, lack of high-order interactions,…

Autonomous driving is a complex and challenging task that aims at safe motion planning through scene understanding and reasoning. While vision-only autonomous driving methods have recently achieved notable performance, through enhanced…

Effective environment modeling is the foundation for autonomous driving, underpinning tasks from perception to planning. However, current paradigms often inadequately consider the feedback of ego motion to the observation, which leads to an…

This study investigates the use of trajectory and dynamic state information for efficient data curation in autonomous driving machine learning tasks. We propose methods for clustering trajectory-states and sampling strategies in an active…

In automated driving, predicting trajectories of surrounding vehicles supports reasoning about scene dynamics and enables safe planning for the ego vehicle. However, existing models handle predictions as an instantaneous task of forecasting…

A high-performing object detection system plays a crucial role in autonomous driving (AD). The performance, typically evaluated in terms of mean Average Precision, does not take into account orientation and distance of the actors in the…

Robust perception in automated driving requires reliable performance under adverse conditions, where sensors may be affected by partial failures or environmental occlusions. Although existing autonomous driving datasets inherently contain…

Due to the powerful vision-language reasoning and generalization abilities, multimodal large language models (MLLMs) have garnered significant attention in the field of end-to-end (E2E) autonomous driving. However, their application to…

Current end-to-end autonomous driving methods typically learn only from expert planning data collected from a single ego vehicle, severely limiting the diversity of learnable driving policies and scenarios. However, a critical yet…

End-to-end (E2E) autonomous driving heavily relies on closed-loop simulation, where perception, planning, and control are jointly trained and evaluated in interactive environments. Yet, most existing datasets are collected from the real…

In recent years, end-to-end autonomous driving frameworks have been shown to not only enhance perception performance but also improve planning capabilities. However, most previous end-to-end autonomous driving frameworks have focused…