相关论文: Enhancing End-to-End Autonomous Driving with Laten…

The autoregressive world model exhibits robust generalization capabilities in vectorized scene understanding but encounters difficulties in deriving actions due to insufficient uncertainty modeling and self-delusion. In this paper, we…

Existing vision-and-language navigation (VLN) models primarily reason over past and current visual observations, while largely ignoring the future visual dynamics induced by actions. As a result, they often lack an effective understanding…

Latent World Models enhance scene representation through temporal self-supervised learning, presenting a perception annotation-free paradigm for end-to-end autonomous driving. However, the reconstruction-oriented representation learning…

In this paper we present a complete study of an end-to-end imitation learning system for speed control of a real car, based on a neural network with a Long Short Term Memory (LSTM). To achieve robustness and generalization from expert…

End-to-end autonomous driving systems powered by Vision-Language-Action (VLA) models achieve strong performance on common driving scenarios, yet remain brittle in rare but safety-critical long-tail situations such as active construction…

End-to-end autonomous driving has emerged as a compelling alternative to traditional modular pipelines by directly mapping raw sensor data to driving actions. While recent approaches achieve strong performance on single-domain datasets,…

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…

Human drivers rely on commonsense reasoning to navigate diverse and dynamic real-world scenarios. Existing end-to-end (E2E) autonomous driving (AD) models are typically optimized to mimic driving patterns observed in data, without capturing…

In the rapidly evolving landscape of autonomous driving, the capability to accurately predict future events and assess their implications is paramount for both safety and efficiency, critically aiding the decision-making process. World…

Data-efficient learning remains a central challenge in autonomous driving due to the high cost and safety risks of large-scale real-world interaction. Although world-model-based reinforcement learning enables policy optimization through…

Vision-Language-Action (VLA) models have recently achieved notable progress in end-to-end autonomous driving by integrating perception, reasoning, and control within a unified multimodal framework. However, they often lack explicit modeling…

Traffic scene understanding is essential for enabling autonomous vehicles to accurately perceive and interpret their environment, thereby ensuring safe navigation. This paper presents a novel framework that transforms a single frontal-view…

The Driving World Model (DWM), which focuses on predicting scene evolution during the driving process, has emerged as a promising paradigm in the pursuit of autonomous driving (AD). DWMs enable AD systems to better perceive, understand, and…

The large-scale deployment of autonomous vehicles is yet to come, and one of the major remaining challenges lies in urban dense traffic scenarios. In such cases, it remains challenging to predict the future evolution of the scene and future…

In autonomous driving, predicting future events in advance and evaluating the foreseeable risks empowers autonomous vehicles to better plan their actions, enhancing safety and efficiency on the road. To this end, we propose Drive-WM, the…

Understanding world dynamics is crucial for planning in autonomous driving. Recent methods attempt to achieve this by learning a 3D occupancy world model that forecasts future surrounding scenes based on current observation. However, 3D…

End-to-end autonomous driving seeks to solve the perception, decision, and control problems in an integrated way, which can be easier to generalize at scale and be more adapting to new scenarios. However, high costs and risks make it very…

End-to-end autonomous driving with vision-only is not only more cost-effective compared to LiDAR-vision fusion but also more reliable than traditional methods. To achieve a economical and robust purely visual autonomous driving system, we…

World models have become crucial for autonomous driving, as they learn how scenarios evolve over time to address the long-tail challenges of the real world. However, current approaches relegate world models to limited roles: they operate…

Autonomous driving requires reasoning about how the environment evolves and planning actions accordingly. Existing world-model-based approaches typically predict future scenes first and plan afterwards, resulting in open-loop imagination…