相关论文: Autoregressive End-to-End Planning with Time-Invar…

Current End-to-End Autonomous Driving (E2E-AD) methods resort to unifying modular designs for various tasks (e.g. perception, prediction and planning). Although optimized with a fully differentiable framework in a planning-oriented manner,…

Accurate prediction is important for operating an autonomous vehicle in interactive scenarios. Prediction must be fast, to support multiple requests from a planner exploring a range of possible futures. The generated predictions must…

Unlike popular modularized framework, end-to-end autonomous driving seeks to solve the perception, decision and control problems in an integrated way, which can be more adapting to new scenarios and easier to generalize at scale. However,…

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,…

End-to-end autonomous driving planners typically generate trajectories from current observations alone. However, real-world driving is highly dynamic, and such reactive planning cannot anticipate future scene evolution, often leading to…

This paper presents ARTEMIS, an end-to-end autonomous driving framework that combines autoregressive trajectory planning with Mixture-of-Experts (MoE). Traditional modular methods suffer from error propagation, while existing end-to-end…

Focusing on the task of point-to-point navigation for an autonomous driving vehicle, we propose a novel deep learning model trained with end-to-end and multi-task learning manners to perform both perception and control tasks simultaneously.…

Personalized motion planning holds significant importance within urban automated driving, catering to the unique requirements of individual users. Nevertheless, prior endeavors have frequently encountered difficulties in simultaneously…

Simulators can generate virtually unlimited driving data, yet imitation learning policies in simulation still struggle to achieve robust closed-loop performance. Motivated by this gap, we empirically study how misalignment between…

Generalization is a central challenge in autonomous driving, as real-world deployment requires robust performance under unseen scenarios, sensor domains, and environmental conditions. Recent world-model-based planning methods have shown…

End-to-end autonomous driving, which bypasses traditional modular pipelines by directly predicting future trajectories from sensor inputs, has recently achieved substantial progress. However, existing methods often overlook the causal…

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…

We address the decision-making capability within an end-to-end planning framework that focuses on motion prediction, decision-making, and trajectory planning. Specifically, we formulate decision-making and trajectory planning as a…

Deep reinforcement Learning for end-to-end driving is limited by the need of complex reward engineering. Sparse rewards can circumvent this challenge but suffers from long training time and leads to sub-optimal policy. In this work, we…

While Unmanned Aerial Vehicles (UAVs) have gained significant traction across various fields, path planning in 3D environments remains a critical challenge, particularly under size, weight, and power (SWAP) constraints. Traditional modular…

In recent years, end-to-end autonomous driving has attracted increasing attention for its ability to jointly model perception, prediction, and planning within a unified framework. However, most existing approaches underutilize the online…

We introduce WAM-Flow, a vision-language-action (VLA) model that casts ego-trajectory planning as discrete flow matching over a structured token space. In contrast to autoregressive decoders, WAM-Flow performs fully parallel, bidirectional…

Current end-to-end autonomous driving planners are fundamentally reactive: they condition on historical and present observations to predict future actions. We argue that autonomous agents should instead imagine future scenes before…

The main novelty of the proposed approach is that it allows a robot to learn an end-to-end policy which can adapt to changes in the environment during execution. While goal conditioning of policies has been studied in the RL literature,…

End-to-end (E2E) autonomous driving systems offer a promising alternative to traditional modular pipelines by reducing information loss and error accumulation, with significant potential to enhance both mobility and safety. However, most…