自动驾驶

SceMoS: Scene-Aware 3D Human Motion Synthesis by Planning with Geometry-Grounded Tokens

SceMoS：通过基于几何的令牌规划进行场景感知的3D人体运动合成

Anindita Ghosh, Vladislav Golyanik, Taku Komura, Philipp Slusallek, Christian Theobalt, Rishabh Dabral

机构 * DFKI（德累斯顿人工智能研究所） ； MPI for Informatics（信息研究所） ； Saarland Informatics Campus（萨尔州信息校园） ； University of Hong Kong（香港大学） 纠错

专题命中 规划控制 ：BEV(abstract)；occupancy(abstract)；分类 cs.CV

AI总结 SceMoS通过基于几何的令牌规划，利用2D场景表示实现高效且逼真的3D人体运动合成，减少50%以上可训练参数，提升物理真实性和接触精度。

Comments 13 pages, 6 figures, 4 tables

IMPACT: Behavioral Intention-aware Multimodal Trajectory Prediction with Adaptive Context Trimming

IMPACT: 基于适应性上下文修剪的多模态轨迹预测：行为意图感知

Jiawei Sun, Xibin Yue, Jiahui Li, Tianle Shen, Chengran Yuan, Shuo Sun, Sheng Guo, Quanyun Zhou, Marcelo H Ang

机构 * National University of Singapore（新加坡国立大学） ； Xiaomi EV（小米电动车） 纠错

专题命中 规划控制 ：LiDAR(abstract)；occupancy(abstract)；分类 cs.RO

AI总结 IMPACT提出了一种基于适应性上下文修剪的多模态轨迹预测框架，通过联合预测行为意图和轨迹，提升预测精度、可解释性和效率，并在Waymo数据集上取得优异成绩。

Comments accepted by IEEE Robotics and Automation Letters

A Generic Service-Oriented Function Offloading Framework for Connected Automated Vehicles

面向连接自动化车辆的通用服务导向功能卸载框架

Robin Dehler, Michael Buchholz

机构 * Institute of Measurement, Control and Microtechnology, Ulm University（测量、控制与微技术研究所，乌尔姆大学） 纠错

专题命中 规划控制 ：autonomous driving(abstract)；trajectory planning(abstract)；分类 cs.RO

AI总结 本文提出了一种面向连接自动化车辆的通用服务导向功能卸载框架，通过基于位置的策略实现任务卸载，提升计算效率并保证服务质量。

Comments 8 pages, 6 figures, 2 tables, published in RA-L

Journal ref IEEE Robotics and Automation Letters (Volume: 10, Issue: 5, May 2025)

SAP-CoPE: Social-Aware Planning using Cooperative Pose Estimation with Infrastructure Sensor Nodes

SAP-CoPE：基于基础设施传感器节点的社交意识规划使用协作姿态估计

Minghao Ning, Yufeng Yang, Shucheng Huang, Jiaming Zhong, Keqi Shu, Chen Sun, Ehsan Hashemi, Amir Khajepour

机构 * Mechanical and Mechatronics Eng. Department, University of Waterloo（机械与机电工程系，滑铁库大学） ； Department of Data and Systems Engineering, University of Hong Kong（数据与系统工程系，香港大学） ； Mechanical Engineering Department, University of Alberta（机械工程系，阿尔伯塔大学） 纠错

专题命中 规划控制 ：autonomous driving(abstract)；LiDAR(abstract)；分类 cs.RO

AI总结 SAP-CoPE通过结合协作基础设施、3D人体姿态估计和基于MPC的社会意识运动规划，实现了在人类密集环境中自主系统的社会意识轨迹生成。

Comments This paper has been submitted to the IEEE Transactions on Automation Science and Engineering

Multi-Resolution Alignment for Voxel Sparsity in Camera-Based 3D Semantic Scene Completion

基于体素稀疏性的多分辨率对齐方法用于基于摄像头的3D语义场景补全

Zhiwen Yang, Yuxin Peng

机构 * Wangxuan Institute of Computer Technology, Peking University（王宣计算机技术研究所，北京大学） 纠错

专题命中 规划控制 ：autonomous driving(abstract)；occupancy(abstract)；分类 cs.CV

AI总结 本文提出多分辨率对齐方法，通过多分辨率特征对齐和关键分布一致性损失缓解基于摄像头的3D语义场景补全中的体素稀疏性问题。

Comments 15 pages, 6 figures, accepted by TIP 2026

Scene-Adaptive Motion Planning with Explicit Mixture of Experts and Interaction-Oriented Optimization

场景自适应运动规划与显式专家混合及交互导向优化

Hongbiao Zhu, Liulong Ma, Xian Wu, Xin Deng, Xiaoyao Liang

机构 * Automotive New Technology Research Institute, BYD Company Limited（比亚迪公司自动驾驶新技术研究院） 纠错

专题命中 规划控制 ：autonomous driving(abstract)；trajectory planning(abstract)；分类 cs.RO

AI总结 本文提出EMoE-Planner，通过显式专家混合和交互导向优化，解决复杂城市环境中自主驾驶轨迹规划的多模态、场景多样性和环境交互问题，实现超越传统规则算法的性能。

Comments Main text 10 pages with 7 figures

A Human-Oriented Cooperative Driving Approach: Integrating Driving Intention, State, and Conflict

面向人类的协作驾驶方法：整合驾驶意图、状态和冲突

Qin Wang, Shanmin Pang, Jianwu Fang, Shengye Dong, Fuhao Liu, Jianru Xue, Chen Lv

机构 * School of Software Engineering, Xi’an Jiaotong University（软件工程学院，西安交通大学） ； School of Artificial Intelligence, Xi’an Jiaotong University（人工智能学院，西安交通大学） ； School of Mechanical and Aerospace Engineering, Nanyang Technological University（机械与航空航天工程学院，南洋理工大学） 纠错

专题命中 规划控制 ：autonomous driving(abstract)；trajectory planning(abstract)；分类 cs.RO

AI总结 本文提出面向人类的协作驾驶方法，通过意图感知轨迹规划和控制权分配策略，提升驾驶性能并减少人机冲突。

X-Scene: Large-Scale Driving Scene Generation with High Fidelity and Flexible Controllability

X-Scene: 通过高保真和灵活可控性实现大规模驾驶场景生成

Yu Yang, Alan Liang, Jianbiao Mei, Yukai Ma, Yong Liu, Gim Hee Lee

机构 * Zhejiang University（浙江大学） ； National University of Singapore（新加坡国立大学） 纠错

专题命中 规划控制 ：autonomous driving(abstract)；occupancy(abstract)；分类 cs.CV

AI总结 X-Scene通过高保真和灵活可控性实现大规模驾驶场景生成，支持多粒度控制和一致性外推，提升自动驾驶的数据生成与模拟能力。

Comments Accepted by NeurIPS 2025, Project page at https://x-scene.github.io/

dVLM-AD: Enhance Diffusion Vision-Language-Model for Driving via Controllable Reasoning

dVLM-AD：通过可控推理增强扩散视觉语言模型以实现驾驶

Yingzi Ma, Yulong Cao, Wenhao Ding, Shuibai Zhang, Yan Wang, Boris Ivanovic, Ming Jiang, Marco Pavone, Chaowei Xiao

机构 * University of Wisconsin-Madison（威斯康星大学麦迪逊分校） ； NVIDIA（英伟达） ； Stanford University（斯坦福大学） ； Johns Hopkins University（约翰霍普金斯大学） 纠错

专题命中 规划控制 ：autonomous driving(abstract)；end-to-end driving(abstract)；分类 cs.CV

AI总结 dVLM-AD通过可控推理提升扩散视觉语言模型，实现更一致的驾驶推理与规划性能。

Trends in Motion Prediction Toward Deployable and Generalizable Autonomy: A Revisit and Perspectives

Letian Wang, Marc-Antoine Lavoie, Sandro Papais, Barza Nisar, Yuxiao Chen, Wenhao Ding, Boris Ivanovic, Hao Shao, Abulikemu Abuduweili, Evan Cook, Yang Zhou, Peter Karkus, Jiachen Li, Changliu Liu, Marco Pavone, Steven Waslander

专题命中 规划控制 ：autonomous driving(abstract)；self-driving(abstract)；分类 cs.RO

Comments (Book) To Appear in Foundation and Trends in Robotics. 163 pages, 40 figures, 13 tables

CAMNet: Leveraging Cooperative Awareness Messages for Vehicle Trajectory Prediction

Mattia Grasselli, Angelo Porrello, Carlo Augusto Grazia

机构 * Department of Engineering ``Enzo Ferrari'' University of Modena 纠错

专题命中 规划控制 ：autonomous driving(abstract)；LiDAR(abstract)；分类 cs.AI

Comments Accepted at the IEEE Consumer Communications & Networking Conference (CCNC) 2026 - Las Vegas, NV, USA 9 - 12 January 2026

StreetCrafter: Street View Synthesis with Controllable Video Diffusion Models

Yunzhi Yan, Zhen Xu, Haotong Lin, Haian Jin, Haoyu Guo, Yida Wang, Kun Zhan, Xianpeng Lang, Hujun Bao, Xiaowei Zhou, Sida Peng

机构 * Zhejiang University（浙江大学） ； Li Auto Inc.（Li汽车公司） ； Cornell University（康奈尔大学） 纠错

专题命中 规划控制 ：autonomous driving(abstract)；LiDAR(abstract)；分类 cs.CV

Comments Project page: https://zju3dv.github.io/street_crafter

$I^{2}$-World: Intra-Inter Tokenization for Efficient Dynamic 4D Scene Forecasting

Zhimin Liao, Ping Wei, Ruijie Zhang, Shuaijia Chen, Haoxuan Wang, Ziyang Ren

机构 * National Key Laboratory of Human-Machine Hybrid Augmented Intelligence（人机混合增强智能国家级重点实验室） ； Institute of Artificial Intelligence and Robotics, Xi’an Jiaotong University（人工智能与机器人学院，西安交通大学） 纠错

专题命中 规划控制 ：autonomous driving(abstract)；occupancy(abstract)；分类 cs.CV

TopoDiffuser: A Diffusion-Based Multimodal Trajectory Prediction Model with Topometric Maps

Zehui Xu, Junhui Wang, Yongliang Shi, Chao Gao, Guyue Zhou

机构 * School of Astronautics, Harbin Institute of Technology（哈尔滨工业大学航天学院） ； Institute for AI Industry Research (AIR), Tsinghua University（清华大学人工智能产业研究院） ； Institute of Systems Engineering and Collaborative Laboratory for Intelligent Science and Systems, Macau University of Science and Technology（澳门科学大学系统工程研究所） ； School of Vehicle and Mobility, Tsinghua University（清华大学车辆与移动系统学院） 纠错

专题命中 规划控制 ：BEV(abstract)；LiDAR(abstract)；分类 cs.RO

DONUT: A Decoder-Only Model for Trajectory Prediction

Markus Knoche, Daan de Geus, Bastian Leibe

机构 * RWTH Aachen University（亚琛工业大学） ； Eindhoven University of Technology（埃因霍温理工大学） 纠错

专题命中 规划控制 ：autonomous driving(abstract)；self-driving(abstract)；分类 cs.CV

Comments ICCV 2025. Project page at https://vision.rwth-aachen.de/donut

VisioPath: Vision-Language Enhanced Model Predictive Control for Safe Autonomous Navigation in Mixed Traffic

Shanting Wang, Panagiotis Typaldos, Chenjun Li, Andreas A. Malikopoulos

机构 * System Engineering Program, Cornell University（Cornell大学系统工程项目） ； School of Civil and Environmental Engineering, Cornell University（Cornell大学土木与环境工程学院） ； School of Electrical and Computer Engineering, Cornell University（Cornell大学电气与计算机工程学院） 纠错

专题命中 规划控制 ：autonomous driving(abstract)；trajectory planning(abstract)；分类 cs.RO

Topo2Seq: Enhanced Topology Reasoning via Topology Sequence Learning

Yiming Yang, Yueru Luo, Bingkun He, Erlong Li, Zhipeng Cao, Chao Zheng, Shuqi Mei, Zhen Li

专题命中 规划控制 ：autonomous driving(abstract)；self-driving(abstract)；分类 cs.CV

Journal ref Proceedings of the AAAI Conference on Artificial Intelligence (AAAI-2025), 39(9), 9318-9326

SAH-Drive: A Scenario-Aware Hybrid Planner for Closed-Loop Vehicle Trajectory Generation

Yuqi Fan, Zhiyong Cui, Zhenning Li, Yilong Ren, Haiyang Yu

专题命中 规划控制 ：autonomous driving(abstract)；trajectory planning(abstract)；分类 cs.RO

Comments 17 pages, 8 figures, International Conference on Machine Learning

Saliency-Aware Quantized Imitation Learning for Efficient Robotic Control

Seongmin Park, Hyungmin Kim, Sangwoo Kim, Wonseok Jeon, Juyoung Yang, Byeongwook Jeon, Yoonseon Oh, Jungwook Choi

机构 * Hanyang University（翰阳大学） ； Hyundai Motor Company（现代汽车公司） 纠错

专题命中 规划控制 ：autonomous driving(abstract)；self-driving(abstract)；分类 cs.RO

Comments arXiv admin note: text overlap with arXiv:2412.01034

Multi-modal Knowledge Distillation-based Human Trajectory Forecasting

Jaewoo Jeong, Seohee Lee, Daehee Park, Giwon Lee, Kuk-Jin Yoon

专题命中 规划控制 ：autonomous driving(abstract)；BEV(abstract)；分类 cs.CV

Comments Accepted to CVPR 2025

Learning Orientation Field for OSM-Guided Autonomous Navigation

Yuming Huang, Wei Gao, Zhiyuan Zhang, Maani Ghaffari, Dezhen Song, Cheng-Zhong Xu, Hui Kong

专题命中 规划控制 ：LiDAR(abstract)；trajectory planning(abstract)；分类 cs.RO

Comments 14 pages, 12 figures, and 5 tables

Lab2Car: A Versatile Wrapper for Deploying Experimental Planners in Complex Real-world Environments

Marc Heim, Francisco Suarez-Ruiz, Ishraq Bhuiyan, Bruno Brito, Momchil S. Tomov

专题命中 规划控制 ：autonomous driving(abstract)；self-driving(abstract)；分类 cs.RO

Comments This work has been submitted to the IEEE for possible publication

Real-time Motion Planning for autonomous vehicles in dynamic environments

Mohammad Dehghani Tezerjani, Dominic Carrillo, Deyuan Qu, Sudip Dhakal, Amir Mirzaeinia, Qing Yang

专题命中 规划控制 ：self-driving(abstract)；trajectory planning(abstract)；分类 cs.RO

Comments 8 pages

On Learning Informative Trajectory Embeddings for Imitation, Classification and Regression

Zichang Ge, Changyu Chen, Arunesh Sinha, Pradeep Varakantham

专题命中 规划控制 ：autonomous driving(abstract)；self-driving(abstract)；分类 cs.AI

Comments AAMAS 2025

Semi-supervised 3D Semantic Scene Completion with 2D Vision Foundation Model Guidance

Duc-Hai Pham, Duc-Dung Nguyen, Anh Pham, Tuan Ho, Phong Nguyen, Khoi Nguyen, Rang Nguyen

专题命中 规划控制 ：LiDAR(abstract)；occupancy(abstract)；分类 cs.CV

Comments Accepted at AAAI2025. Project Page: https://vinairesearch.github.io/SemiSSC

Autonomous Tail-Sitter Flights in Unknown Environments

Guozheng Lu, Yunfan Ren, Fangcheng Zhu, Haotian Li, Ruize Xue, Yixi Cai, Ximin Lyu, Fu Zhang

专题命中 规划控制 ：LiDAR(abstract)；trajectory planning(abstract)；分类 cs.RO

ShanghaiTech Mapping Robot is All You Need: Robot System for Collecting Universal Ground Vehicle Datasets

Bowen Xu, Xiting Zhao, Delin Feng, Yuanyuan Yang, Sören Schwertfeger

专题命中 规划控制 ：autonomous driving(abstract)；LiDAR(abstract)；分类 cs.RO

Comments 19 pages, 27 figures. Submitted to IEEE Transactions on Robotics

CVCP-Fusion: On Implicit Depth Estimation for 3D Bounding Box Prediction

Pranav Gupta, Rishabh Rengarajan, Viren Bankapur, Vedansh Mannem, Lakshit Ahuja, Surya Vijay, Kevin Wang

专题命中 规划控制 ：BEV(abstract)；LiDAR(abstract)；分类 cs.CV

Comments 7 pages, 5 figures. arXiv admin note: text overlap with arXiv:2205.02833 by other authors

Journal ref Curieux Academic Journal Part 2 Issue 43 (2024), pp. 626-634

Motion Forecasting in Continuous Driving

Nan Song, Bozhou Zhang, Xiatian Zhu, Li Zhang

专题命中 规划控制 ：autonomous driving(abstract)；self-driving(abstract)；分类 cs.CV

Comments Accepted at NeurIPS 2024 Spotlight

Transfer Learning Study of Motion Transformer-based Trajectory Predictions

Lars Ullrich, Alex McMaster, Knut Graichen

专题命中 规划控制 ：autonomous driving(abstract)；trajectory planning(abstract)；分类 cs.RO

Comments Published in 2024 IEEE Intelligent Vehicles Symposium (IV), Jeju Shinhwa World, Jeju Island, Korea, June 2-5, 2024

Journal ref 2024 IEEE Intelligent Vehicles Symposium (IV), Jeju Shinhwa World, Jeju Island, Korea, June 2-5, 2024, pp. 110-117