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

End-to-end autonomous driving has achieved remarkable progress by integrating perception, prediction, and planning into a fully differentiable framework. Yet, to fully realize its potential, an effective online trajectory evaluation is…

Shared autonomy systems require principled methods for inferring user intent and determining appropriate assistance levels. This is a central challenge in human-robot interaction, where systems must be successful while being mindful of user…

End-to-end Network has become increasingly important in multi-tasking. One prominent example of this is the growing significance of a driving perception system in autonomous driving. This paper systematically studies an end-to-end…

Perceiving the environment and its changes over time corresponds to two fundamental yet heterogeneous types of information: semantics and motion. Previous end-to-end autonomous driving works represent both types of information in a single…

In end-to-end autonomous driving,the motion prediction plays a pivotal role in ego-vehicle planning. However, existing methods often rely on globally aggregated motion features, ignoring the fact that planning decisions are primarily…

Latent steering exploits internal representations of Large Language Models (LLMs) to guide generation, yet interventions on dense states can entangle distinct semantic features. In this paper, we investigate attention query activations as a…

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…

In this paper, we present a novel end-to-end deep neural network model for autonomous driving that takes monocular image sequence as input, and directly generates the steering control angle. Firstly, we model the end-to-end driving problem…

Multi-sensor fusion is essential for autonomous vehicle localization, as it is capable of integrating data from various sources for enhanced accuracy and reliability. The accuracy of the integrated location and orientation depends on the…

End-to-end autonomous driving has made impressive progress in recent years. Existing methods usually adopt the decoupled encoder-decoder paradigm, where the encoder extracts hidden features from raw sensor data, and the decoder outputs the…

Spatiotemporal prediction of event data is a challenging task with a long history of research. While recent work in spatiotemporal prediction has leveraged deep sequential models that substantially improve over classical approaches, these…

Bird's-Eye-View (BEV) perception has become a vital component of autonomous driving systems due to its ability to integrate multiple sensor inputs into a unified representation, enhancing performance in various downstream tasks. However,…

As autonomous driving technology continues to advance, end-to-end models have attracted considerable attention owing to their superior generalisation capability. Nevertheless, such learning-based systems entail numerous safety risks…

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,…

Cooperative 3D perception via Vehicle-to-Everything communication is a promising paradigm for enhancing autonomous driving, offering extended sensing horizons and occlusion resolution. However, the practical deployment of existing methods…

In this paper, we propose an end-to-end self-driving network featuring a sparse attention module that learns to automatically attend to important regions of the input. The attention module specifically targets motion planning, whereas prior…

Autonomous vehicle (AV) stacks have traditionally relied on decomposed approaches, with separate modules handling perception, prediction, and planning. However, this design introduces information loss during inter-module communication,…

Many existing autonomous driving paradigms involve a multi-stage discrete pipeline of tasks. To better predict the control signals and enhance user safety, an end-to-end approach that benefits from joint spatial-temporal feature learning is…

In autonomous vehicles, understanding the surrounding 3D environment of the ego vehicle in real-time is essential. A compact way to represent scenes while encoding geometric distances and semantic object information is via 3D semantic…

Most existing autonomous-driving datasets (e.g., KITTI, nuScenes, and the Waymo Perception Dataset), collected by human-driving mode or unidentified driving mode, can only serve as early training for the perception and prediction of…