相关论文: SparseAD: Sparse Query-Centric Paradigm for Effici…

We consider the challenging problem of high speed autonomous racing in a realistic Formula One environment. DeepRacing is a novel end-to-end framework, and a virtual testbed for training and evaluating algorithms for autonomous racing. The…

End-to-end learning has emerged as a transformative paradigm in autonomous driving. However, the inherently multimodal nature of driving behaviors and the generalization challenges in long-tail scenarios remain critical obstacles to robust…

End-to-end autonomous driving is a fully differentiable machine learning system that takes raw sensor input data and other metadata as prior information and directly outputs the ego vehicle's control signals or planned trajectories. This…

Autonomous driving requires a comprehensive understanding of the surrounding environment for reliable trajectory planning. Previous works rely on dense rasterized scene representation (e.g., agent occupancy and semantic map) to perform…

We propose ComDrive: the first comfort-oriented end-to-end autonomous driving system to generate temporally consistent and comfortable trajectories. Recent studies have demonstrated that imitation learning-based planners and learning-based…

A principal barrier to large-scale deployment of urban autonomous driving systems lies in the prevalence of complex scenarios and edge cases. Existing systems fail to effectively interpret semantic information within traffic contexts and…

Research interest in end-to-end autonomous driving has surged owing to its fully differentiable design integrating modular tasks, i.e. perception, prediction and planing, which enables optimization in pursuit of the ultimate goal. Despite…

Attention-based models have revolutionized AI, but the quadratic cost of self-attention incurs severe computational and memory overhead. Sparse attention methods alleviate this by skipping low-relevance token pairs. However, current…

The increase in vehicle ownership has led to increased traffic congestion, more accidents, and higher carbon emissions. Vehicle platooning is a promising solution to address these issues by improving road capacity and reducing fuel…

Modeling complicated interactions among the ego-vehicle, road agents, and map elements has been a crucial part for safety-critical autonomous driving. Previous works on end-to-end autonomous driving rely on the attention mechanism for…

We introduce a motion forecasting (behavior prediction) method that meets the latency requirements for autonomous driving in dense urban environments without sacrificing accuracy. A whole-scene sparse input representation allows StopNet to…

Autonomous parking remains a critical yet challenging task in intelligent driving systems, particularly within constrained urban environments where maneuvering space is limited and precise control is essential. While recent advances in…

In this work, we present SpaRC, a novel Sparse fusion transformer for 3D perception that integrates multi-view image semantics with Radar and Camera point features. The fusion of radar and camera modalities has emerged as an efficient…

End to end (E2E) autonomous driving trajectory prediction is often trained with camera frames sampled at the highest available temporal frequency, assuming that denser sampling improves performance. We question this assumption by treating…

The challenges presented in an autonomous racing situation are distinct from those faced in regular autonomous driving and require faster end-to-end algorithms and consideration of a longer horizon in determining optimal current actions…

In recent years, vision-based end-to-end autonomous driving has emerged as a new paradigm. However, popular end-to-end approaches typically rely on visual feature extraction networks trained under label supervision. This limited supervision…

End-to-End Autonomous Driving (E2E-AD) systems are typically grouped by the nature of their outputs: (i) waypoint-based models that predict a future trajectory, and (ii) action-based models that directly output throttle, steer and brake.…

In autonomous driving, Vision Language Models (VLMs) excel at high-level reasoning , whereas semantic occupancy provides fine-grained details. Despite significant progress in individual fields, there is still no method that can effectively…

In autonomous driving, end-to-end planners directly utilize raw sensor data, enabling them to extract richer scene features and reduce information loss compared to traditional planners. This raises a crucial research question: how can we…

The end-to-end (E2E) paradigm, which maps sensor inputs directly to driving decisions, has recently attracted significant attention due to its unified modeling capability and scalability. However, ensuring safety in this unified framework…