Many current end-to-end driving policies emit a pool of candidate trajectories and select one, which makes selection a separable component: a scorer can be retrained while the planner, its backbone, and its trajectory generator all stay frozen. However, many strong planners concentrate their proposals around safe mode,...
Ya-Guang Li, Jia-Ru Zhang, Chu-Heng Wei et al.· 0 citations
Driving world models are often interpreted as counterfactual simulators for observed driving episodes: given a factual driving log, they are asked what would have happened under an alternative ego action. In this paper, we identify a fundamental mismatch between this goal and direct action-conditioned prediction. The d...
Perceived risk in driving evolves over time and may be supported by specific scene entities, yet supervision is typically limited to coarse video-level judgments. Learning \emph{when} supporting evidence emerges and \emph{which entities} support a risk predictor would ordinarily require costly temporal- and entity-leve...
This survey delivers a comprehensive and critical synthesis of the emerging role of GenAI across the autonomous driving stack, delving into the frontier applications of GenAI in image, LiDAR, trajectory, occupancy, and video generation, as well as LLM-guided reasoning and decision-making.
Yu-Ping Wang, Shuo Xing, C. Cui et al.· ACM Computing Surveys· 60 citations· ⚡2
A unified view of post-training for autonomous driving is presented by defining its scope and organizing the existing literature into four major families based on the form of supervision they use, which aim to facilitate a systematic understanding of this emerging area and stimulate future research on reliable and effi...
Ruining Yang, Mu Wang, Yi-Xiao Chen et al.· arXiv.org· 1 citation
GlanceWAM is introduced, which decouples imagination from control within a single video DiT: an asynchronous proposer glances ahead on a slow clock to imagine a single lookahead frame seconds into the future in the background, while an action head decodes action chunks at control rate purely in latent space without blo...
Lin-Han Wang, Zi-Jian An, Mingyuan Zhang et al.· 1 citation
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