相关论文: SafeDrive: Fine-Grained Safety Reasoning for End-t…

The well-established modular autonomous driving system is decoupled into different standalone tasks, e.g. perception, prediction and planning, suffering from information loss and error accumulation across modules. In contrast, end-to-end…

End-to-End autonomous driving (E2E-AD) has emerged as a new paradigm, where trajectory planning plays a crucial role. Existing studies mainly follow two directions: trajectory generation oriented, which focuses on producing high-quality…

Recently, world models have made significant progress in enhancing end-to-end driving systems through both future situation forecasting and improved scene understanding. However, existing driving world models are typically built upon dense…

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,…

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…

End-to-end autonomous driving directly generates planning trajectories from raw sensor data, yet it typically relies on costly perception supervision to extract scene information. A critical research challenge arises: constructing an…

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…

Safe and scalable deployment of end-to-end (E2E) autonomous driving requires extensive and diverse data, particularly safety-critical events. Existing data are mostly generated from simulators with a significant sim-to-real gap or collected…

Driving planning is a critical component of end-to-end (E2E) autonomous driving. However, prevailing Imitative E2E Planners often suffer from multimodal trajectory mode collapse, failing to produce diverse trajectory proposals. Meanwhile,…

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…

Recent advances in end-to-end autonomous driving leverage multi-view images to construct BEV representations for motion planning. In motion planning, autonomous vehicles need considering both hard constraints imposed by geometrically…

End-to-end (E2E) driving has become a cornerstone of both industry deployment and academic research, offering a single learnable pipeline that maps multi-sensor inputs to actions while avoiding hand-engineered modules. However, the…

End-to-end autonomous driving has witnessed rapid progress, yet existing benchmarks are increasingly saturated, with state-of-the-art models achieving near-perfect scores on widely used open-loop and closed-loop benchmarks. This saturation…

End-to-end multi-modal planning has been widely adopted to model the uncertainty of driving behavior, typically by scoring candidate trajectories and selecting the optimal one. Existing approaches generally fall into two categories: scoring…

Recent advancements in autonomous vehicles (AVs) use Large Language Models (LLMs) to perform well in normal driving scenarios. However, ensuring safety in dynamic, high-risk environments and managing safety-critical long-tail events remain…

End-to-end (E2E) autonomous driving aims to directly map sensory observations to driving actions, but its real-world deployment is hindered by evolving data distributions and the high cost of continual annotation. While combining imitation…

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,…

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…

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 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…