Continuous Actions from Discrete Minds: Latent-Aligned Planning for End-to-End Autonomous Driving
离散思维到连续动作:面向端到端自动驾驶的隐式对齐规划
机构 * The Hong Kong University of Science and Technology (Guangzhou)(香港科技大学(广州)) ; Central Media Technology Institute, Huawei(华为中央媒体技术研究院)
AI总结 该研究提出具备隐式对齐规划的VLA框架LaPla,通过残差VQ-VAE消除量化误差,在nuScenes基准和AlpaSim模拟器上分别实现长时程L2误差降低、驾驶成功率提升的效果。
Comments 8 pages, 5 figures