自动驾驶

WAM-Diff: A Masked Diffusion VLA Framework with MoE and Online Reinforcement Learning for Autonomous Driving

WAM-Diff: 一种结合MoE和在线强化学习的掩码扩散VLA框架用于自动驾驶

Mingwang Xu, Jiahao Cui, Feipeng Cai, Hanlin Shang, Zhihao Zhu, Shan Luan, Yifang Xu, Neng Zhang, Yaoyi Li, Jia Cai, Siyu Zhu

机构 * Fudan University（复旦大学） ； Yinwang Intelligent Technology Co., Ltd（云网智能科技有限公司） 纠错

专题命中 规划控制 ：autonomous driving(title,abstract)；分类 cs.RO、cs.CV、cs.AI

AI总结 WAM-Diff通过结合MoE和在线强化学习的掩码扩散框架，提升自动驾驶轨迹生成的性能与灵活性。

DeeAD: Dynamic Early Exit of Vision-Language Action for Efficient Autonomous Driving

DeeAD: 视觉-语言动作的动态早期退出以实现高效的自动驾驶

Haibo HU, Lianming Huang, Nan Guan, Chun Jason Xue

机构 * City University of Hongkong（香港城市大学） ； Mohamed bin Zayed University of Artificial Intelligence（马尔代夫 bin Zayed 人工智能大学） 纠错

专题命中 规划控制 ：autonomous driving(title,abstract)；分类 cs.RO、cs.CV、cs.AI

AI总结 DeeAD通过动态早期退出机制提升自动驾驶中视觉-语言动作模型的效率，实现28%的变换器层稀疏性和29%的延迟减少，同时保持规划质量和安全。

Co-MTP: A Cooperative Trajectory Prediction Framework with Multi-Temporal Fusion for Autonomous Driving

Xinyu Zhang, Zewei Zhou, Zhaoyi Wang, Yangjie Ji, Yanjun Huang, Hong Chen

机构 * School of Automotive Studies, Tongji University（同济大学汽车学院） 纠错

专题命中 规划控制 ：autonomous driving(title,abstract)；分类 cs.RO、cs.CV、cs.AI

Comments 8 pages, 3 figures, ICRA 2025

Journal ref 2025 IEEE International Conference on Robotics and Automation (ICRA), Atlanta, GA, USA, 2025, pp. 801-807

ADPerf: Investigating and Testing Performance in Autonomous Driving Systems

Tri Minh-Triet Pham, Diego Elias Costa, Weiyi Shang, Jinqiu Yang

专题命中 规划控制 ：autonomous driving(title,abstract)；LiDAR(abstract)

Comments 13 pages, accepted by ASE 2025

ReasonPlan: Unified Scene Prediction and Decision Reasoning for Closed-loop Autonomous Driving

Xueyi Liu, Zuodong Zhong, Yuxin Guo, Yun-Fu Liu, Zhiguo Su, Qichao Zhang, Junli Wang, Yinfeng Gao, Yupeng Zheng, Qiao Lin, Huiyong Chen, Dongbin Zhao

机构 * SKL-MAIS, Institute of Automation, Chinese Academy of Sciences, Beijing, China（中国科学院自动化研究所SKL-MAIS部门，北京） ； School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China（中国科学院大学人工智能学院，北京） ； EACON, Fujian, China（福建EACON机构，中国） ； School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing, China（北京科技大学自动化与电气工程学院） 纠错

专题命中 规划控制 ：autonomous driving(title,abstract)；分类 cs.RO、cs.CV、cs.AI

Comments 18 pages; 9 figures; https://github.com/Liuxueyi/ReasonPlan

Application of Vision-Language Model to Pedestrians Behavior and Scene Understanding in Autonomous Driving

Haoxiang Gao, Li Zhang, Yu Zhao, Zhou Yang, Jinghan Cao

机构 * ECE Department（电子工程系） ； Carnegie Mellon University（卡内基梅隆大学） ； Computer Science Department（计算机科学系） ； Columbia University（哥伦比亚大学） ； Rotman School of Management（罗特曼管理学院） ； University of Toronto（多伦多大学） ； Department of Statistics（统计学系） ； George Washington University（乔治华盛顿大学） ； Department of Computer Science（计算机科学系） ； San Francisco State University（旧金山州立大学） 纠错

专题命中 规划控制 ：autonomous driving(title,abstract)；分类 cs.RO、cs.CV、cs.AI

Generative AI for Autonomous Driving: A Review

Katharina Winter, Abhishek Vivekanandan, Rupert Polley, Yinzhe Shen, Christian Schlauch, Mohamed-Khalil Bouzidi, Bojan Derajic, Natalie Grabowsky, Annajoyce Mariani, Dennis Rochau, Giovanni Lucente, Harsh Yadav, Firas Mualla, Adam Molin, Sebastian Bernhard, Christian Wirth, Ömer Şahin Taş, Nadja Klein, Fabian B. Flohr, Hanno Gottschalk

机构 * Munich University of Applied Sciences, Intelligent Vehicles Lab (IVL)（慕尼黑应用技术大学，智能车辆实验室） ； FZI Research Center for Information Technology（弗劳恩霍夫信息技术研究中心） ； Continental Automotive Technologies GmbH（大陆汽车技术有限公司） ； Technical University of Berlin, Institute of Mathematics（柏林技术大学，数学系） ； German Aerospace Center (DLR), Institute of Transportation Systems（德国航空航天中心（DLR），交通运输系统研究所） ； Aptiv Services Deutschland GmbH（Aptiv 德国服务有限公司） ； AI Lab, ZF Friedrichshafen AG（ZF弗劳恩霍夫汽车有限公司人工智能实验室） ； DENSO AUTOMOTIVE Deutschland GmbH（DENSO 汽车德国有限公司） ； Karlsruhe Institute of Technology, Scientific Computing Center（卡尔斯鲁厄理工学院，科学计算中心） 纠错

专题命中 规划控制 ：autonomous driving(title,abstract)；分类 cs.RO、cs.CV、cs.AI

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

Adaptive Field Effect Planner for Safe Interactive Autonomous Driving on Curved Roads

Qinghao Li, Zhen Tian, Xiaodan Wang, Jinming Yang, Zhihao Lin

专题命中 规划控制 ：autonomous driving(title,abstract)；trajectory planning(abstract)

Comments The 45th IEEE International Conference on Distributed Computing Systems Workshop (ICDCSW) has accepted this paper (accepted-papers/" target="_blank" rel="noopener">https://icdcs2025.icdcs.org/accepted-papers/ In Conjunction Events/ Page 4/ Number 175)

FuzzSense: Towards A Modular Fuzzing Framework for Autonomous Driving Software

Andrew Roberts, Lorenz Teply, Mert D. Pese, Olaf Maennel, Mohammad Hamad, Sebastian Steinhorst

专题命中 规划控制 ：autonomous driving(title,abstract)；LiDAR(abstract)

Predicting the Road Ahead: A Knowledge Graph based Foundation Model for Scene Understanding in Autonomous Driving

Hongkuan Zhou, Stefan Schmid, Yicong Li, Lavdim Halilaj, Xiangtong Yao, Wei cao

专题命中 规划控制 ：autonomous driving(title,abstract)；BEV(abstract)

A Language Agent for Autonomous Driving

Jiageng Mao, Junjie Ye, Yuxi Qian, Marco Pavone, Yue Wang

专题命中 规划控制 ：autonomous driving(title,abstract)；分类 cs.RO、cs.CV、cs.AI

Comments COLM 2024. Project Page: https://usc-gvl.github.io/Agent-Driver/

HGNET: A Hierarchical Feature Guided Network for Occupancy Flow Field Prediction

Zhan Chen, Chen Tang, Lu Xiong

专题命中 规划控制 ：occupancy(title,abstract)；autonomous driving(abstract)

Perception Without Vision for Trajectory Prediction: Ego Vehicle Dynamics as Scene Representation for Efficient Active Learning in Autonomous Driving

Ross Greer, Mohan Trivedi

专题命中 规划控制 ：autonomous driving(title,abstract)；分类 cs.RO、cs.CV、cs.AI

ActiveAD: Planning-Oriented Active Learning for End-to-End Autonomous Driving

Han Lu, Xiaosong Jia, Yichen Xie, Wenlong Liao, Xiaokang Yang, Junchi Yan

专题命中 规划控制 ：autonomous driving(title,abstract)；分类 cs.RO、cs.CV、cs.AI

FocusFlow: Boosting Key-Points Optical Flow Estimation for Autonomous Driving

Zhonghua Yi, Hao Shi, Kailun Yang, Qi Jiang, Yaozu Ye, Ze Wang, Huajian Ni, Kaiwei Wang

专题命中 规划控制 ：autonomous driving(title,abstract)；分类 cs.RO、cs.CV、eess.IV

Comments Accepted to IEEE Transactions on Intelligent Vehicles (T-IV). The source code of FocusFlow will be available at https://github.com/ZhonghuaYi/FocusFlow_official

Guardauto: A Decentralized Runtime Protection System for Autonomous Driving

Kun Cheng, Yuan Zhou, Bihuan Chen, Rui Wang, Yuebin Bai, Yang Liu

专题命中 规划控制 ：autonomous driving(title,abstract)；self-driving(abstract)

Journal ref IEEE Transactions on Computers, Volume: 70, Issue: 10, 01 October 2021

Allo-centric Occupancy Grid Prediction for Urban Traffic Scene Using Video Prediction Networks

Rabbia Asghar, Lukas Rummelhard, Anne Spalanzani, Christian Laugier

专题命中 规划控制 ：occupancy(title,abstract)；分类 cs.RO、cs.CV、cs.AI

Comments ICARCV 2022-17th International Conference on Control, Automation, Robotics and Vision

LookOut: Diverse Multi-Future Prediction and Planning for Self-Driving

Alexander Cui, Sergio Casas, Abbas Sadat, Renjie Liao, Raquel Urtasun

专题命中 规划控制 ：self-driving(title,abstract)；分类 cs.RO、cs.CV、cs.AI

SafetyNet: Safe planning for real-world self-driving vehicles using machine-learned policies

Matt Vitelli, Yan Chang, Yawei Ye, Maciej Wołczyk, Błażej Osiński, Moritz Niendorf, Hugo Grimmett, Qiangui Huang, Ashesh Jain, Peter Ondruska

专题命中 规划控制 ：self-driving(title,abstract)；分类 cs.RO、cs.CV、cs.AI

A Dynamic Motion Planning Framework for Autonomous Driving in Urban Environments

Yuncheng Jiang, Xiaofeng Jin, Yanfei Xiong, Zhaoyong Liu

专题命中 规划控制 ：autonomous driving(title,abstract)；trajectory planning(abstract)

Comments 7pages,CCC2020

Model-free Deep Reinforcement Learning for Urban Autonomous Driving

Jianyu Chen, Bodi Yuan, Masayoshi Tomizuka

专题命中 规划控制 ：autonomous driving(title,abstract)；分类 cs.RO、cs.CV、cs.AI

Comments 7 pages, 6 figures

Improved Reinforcement Learning through Imitation Learning Pretraining Towards Image-based Autonomous Driving

Tianqi Wang, Dong Eui Chang

专题命中 规划控制 ：autonomous driving(title,abstract)；分类 cs.CV、eess.IV、cs.AI

Comments 5 pages, 2019 19th International Conference on Control, Automation and Systems (ICCAS 2019)

FocalAD: Local Motion Planning for End-to-End Autonomous Driving

FocalAD：端到端自动驾驶中的局部运动规划

Bin Sun, Boao Zhang, Jiayi Lu, Xinjie Feng, Jiachen Shang, Rui Cao, Mengchao Zheng, Chuanye Wang, Shichun Yang, Yaoguang Cao, Ziying Song

机构 * School of Transportation Science and Engineering（交通科学与工程学院） ； State Key Lab of Intelligent Transportation System（智能交通运输系统国家重点实验室） ； Hangzhou International Innovation Institute（杭州国际创新研究院） ； School of Computer Science and Technolog（计算机科学与技术学院） ； Beijing Jiaotong University（北京交通大学） 纠错

专题命中 规划控制 ：autonomous driving(title,abstract)；分类 cs.RO、cs.AI

AI总结 本文提出FocalAD框架，通过增强局部运动表示和关注关键局部邻居，提升自动驾驶的规划可靠性与鲁棒性，在nuScenes和Bench2Drive等数据集上表现优异。

Journal ref FocalAD: Local Motion Planning for End-to-End Autonomous Driving. Automot. Innov. (2026)

DualAD: Dual-Layer Planning for Reasoning in Autonomous Driving

Dingrui Wang, Marc Kaufeld, Johannes Betz

专题命中 规划控制 ：autonomous driving(title,abstract)；分类 cs.RO、cs.AI

Comments Autonomous Driving, Large Language Models (LLMs), Human Reasoning, Critical Scenario

AdaOcc: Adaptive Forward View Transformation and Flow Modeling for 3D Occupancy and Flow Prediction

Dubing Chen, Wencheng Han, Jin Fang, Jianbing Shen

专题命中 规划控制 ：occupancy(title,abstract)；分类 cs.RO、cs.CV

Comments 2nd Place in the 3D Occupancy and Flow Prediction Challenge (CVPR24)

Evaluation of Large Language Models for Decision Making in Autonomous Driving

Kotaro Tanahashi, Yuichi Inoue, Yu Yamaguchi, Hidetatsu Yaginuma, Daiki Shiotsuka, Hiroyuki Shimatani, Kohei Iwamasa, Yoshiaki Inoue, Takafumi Yamaguchi, Koki Igari, Tsukasa Horinouchi, Kento Tokuhiro, Yugo Tokuchi, Shunsuke Aoki

专题命中 规划控制 ：autonomous driving(title,abstract)；分类 cs.RO、cs.CV

Comments Accepted at the 2023 Symposium on Machine Learning for Autonomous Driving collocated with NeurIPS

Multi-modal Trajectory Prediction for Autonomous Driving with Semantic Map and Dynamic Graph Attention Network

Bo Dong, Hao Liu, Yu Bai, Jinbiao Lin, Zhuoran Xu, Xinyu Xu, Qi Kong

专题命中 规划控制 ：autonomous driving(title,abstract)；分类 cs.RO、cs.CV

Comments NIPS2020 Workshop on Machine Learning for Autonomous Driving

Multi-Agent Connected Autonomous Driving using Deep Reinforcement Learning

Praveen Palanisamy

专题命中 规划控制 ：autonomous driving(title,abstract)；分类 cs.RO、cs.AI

Comments Accepted, Machine Learning for Autonomous Driving Workshop at the 33rd Conference on Neural Information Processing Systems(NeurIPS 2019)

Fast Expanding Safe Circular Regions for Efficient Local Path Planning

快速扩展的安全圆形区域用于高效的局部路径规划

Scott Fredriksson, Akshit Saradagi, George Nikolakopoulos

机构 * Robotics and Artificial Intelligence Team（机器人与人工智能团队） ； Luleå University of Technology（卢勒奥理工大学） 纠错

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

AI总结 本文提出一种几何算法，通过局部LiDAR扫描生成扩展的圆形区域，实现更快的计算和更长的规划时间，用于局部导航。

Comments Accepted by the IFAC World Congress 2026

PRISM: Privileged Probabilistic Latent Supervision for End-to-End Autonomous Driving Motion Planning

PRISM：面向端到端自动驾驶运动规划的特权概率潜在监督

Volodymyr Havrylov, Faris Janjoš, Andreas Look, Jürgen Mathes, Andreas Geiger

机构 * University of Tübingen（蒂宾根大学） ； Bosch Center for Artificial Intelligence（博世人工智能中心） ； Coburg University（科堡大学） ； Tübingen AI Center（蒂宾根人工智能中心） 纠错

专题命中 规划控制 ：autonomous driving(title,abstract)；分类 cs.RO、cs.CV

AI总结 该研究针对端到端自动驾驶模型梯度微弱问题，提出基于真实值的概率潜在监督框架，在 nuScenes 数据集上实现规划 L2 误差降 8%、碰撞率降 3%，且计算开销可忽略。