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

In recent years, considerable progress has been made towards a vehicle's ability to operate autonomously. An end-to-end approach attempts to achieve autonomous driving using a single, comprehensive software component. Recent breakthroughs…

Recently, temporal action detection (TAD) has seen significant performance improvement with end-to-end training. However, due to the memory bottleneck, only models with limited scales and limited data volumes can afford end-to-end training,…

End-to-End (E2E) autonomous driving models have shown growing capability in recent years, with performance improving on increasingly challenging benchmarks. However, modern generative E2E planners still suffer from a substantial number of…

Autoregressive models excel in sequential modeling and have proven to be effective for vision-language data. However, the spatial nature of visual signals conflicts with the sequential dependencies of next-token prediction, leading to…

We present OpenDriveVLA, a Vision Language Action model designed for end-to-end autonomous driving, built upon open-source large language models. OpenDriveVLA generates spatially grounded driving actions by leveraging multimodal inputs,…

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 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…

End-to-end planning methods are the de facto standard of the current autonomous driving system, while the robustness of the data-driven approaches suffers due to the notorious long-tail problem (i.e., rare but safety-critical failure…

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,…

End-to-end autonomous driving models based on Vision-Language-Action (VLA) architectures have shown promising results by learning driving policies through behavior cloning on expert demonstrations. However, imitation learning inherently…

Unsupervised object-centric learning from videos is a promising approach towards learning compositional representations that can be applied to various downstream tasks, such as prediction and reasoning. Recently, it was shown that…

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…

Conventional end-to-end (E2E) driving models are effective at generating physically plausible trajectories, but often fail to generalize to long-tail scenarios due to the lack of essential world knowledge to understand and reason about…

World models learned from high-dimensional visual observations allow agents to make decisions and plan directly in latent space, avoiding pixel-level reconstruction. However, recent latent predictive architectures (JEPAs), including the…

World model-based searching and planning are widely recognized as a promising path toward human-level physical intelligence. However, current driving world models primarily rely on video diffusion models, which specialize in visual…

Autonomous vehicles must navigate safely in complex driving environments. Imitating a single expert trajectory, as in regression-based approaches, usually does not explicitly assess the safety of the predicted trajectory. Selection-based…

End-to-end approaches to autonomous driving commonly rely on expert demonstrations. Although humans are good drivers, they are not good coaches for end-to-end algorithms that demand dense on-policy supervision. On the contrary, automated…

Traffic accident forecasting is an important task for intelligent transportation management and emergency response systems. However, this problem is challenging due to the spatial heterogeneity of the environment. Existing data-driven…

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…

End-to-End (E2E) planning has become a powerful paradigm for autonomous driving, yet current systems remain fundamentally uncertainty-blind. They assume perception outputs are fully reliable, even in ambiguous or poorly observed scenes,…