相关论文: SparseDriveV2: Scoring is All You Need for End-to-…

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 multi-modal planning is a promising paradigm in autonomous driving, enabling decision-making with diverse trajectory candidates. A key component is a robust trajectory scorer capable of selecting the optimal trajectory from these…

End-to-End paradigms use a unified framework to implement multi-tasks in an autonomous driving system. Despite simplicity and clarity, the performance of end-to-end autonomous driving methods on sub-tasks is still far behind the single-task…

Learning a human-like driving policy from large-scale driving demonstrations is promising, but the uncertainty and non-deterministic nature of planning make it challenging. Existing learning-based planning methods follow a deterministic…

End-to-end autonomous driving has emerged as a promising paradigm for achieving robust and intelligent driving policies. However, existing end-to-end methods still face significant challenges, such as suboptimal decision-making in complex…

Autonomous driving faces significant challenges in achieving human-like iterative decision-making, which continuously generates, evaluates, and refines trajectory proposals. Current generation-evaluation frameworks isolate trajectory…

The end-to-end (E2E) paradigm, which maps sensor inputs directly to driving decisions, has recently attracted significant attention due to its unified modeling capability and scalability. However, ensuring safety in this unified framework…

The growing demand for sparse tensor algebra (SpTA) in machine learning and big data has driven the development of various sparse tensor accelerators. However, most existing manually designed accelerators are limited to specific scenarios,…

Data scaling plays a pivotal role in the pursuit of general intelligence. However, the prevailing perception-planning paradigm in autonomous driving relies heavily on expensive manual annotations to supervise trajectory planning, which…

In autonomous driving, Vision Language Models (VLMs) excel at high-level reasoning , whereas semantic occupancy provides fine-grained details. Despite significant progress in individual fields, there is still no method that can effectively…

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 is increasingly adopting a multimodal planning paradigm that generates multiple trajectory candidates and selects the final plan, making candidate-set design critical. A fixed trajectory vocabulary provides…

We introduce a motion forecasting (behavior prediction) method that meets the latency requirements for autonomous driving in dense urban environments without sacrificing accuracy. A whole-scene sparse input representation allows StopNet to…

End-to-end autonomous driving faces persistent challenges in both generating diverse, rule-compliant trajectories and robustly selecting the optimal path from these options via learned, multi-faceted evaluation. To address these challenges,…

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…

We present a new computational approach to approximating a large, noisy data table by a low-rank matrix with sparse singular vectors. The approximation is obtained from thresholded subspace iterations that produce the singular vectors…

Multi-view visual reasoning is essential for intelligent systems that must understand complex environments from sparse and discrete viewpoints, yet existing research has largely focused on single-image or temporally dense video settings. In…

Generative diffusion models for end-to-end autonomous driving often suffer from mode collapse, tending to generate conservative and homogeneous behaviors. While DiffusionDrive employs predefined anchors representing different driving…

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,…

Vehicle-to-everything communications-assisted autonomous driving has witnessed remarkable advancements in recent years, with pragmatic communications (PragComm) emerging as a promising paradigm for real-time collaboration among vehicles and…