Karol Fedurko

Expand-and-Prune: Test-Time Candidate-Space Adaptation for End-to-End Autonomous Driving

Candidate-based end-to-end driving planners reason over a finite set of trajectory hypotheses. However, for sparse planners, a limited candidate set may provide insufficient support for scene-relevant maneuvers, while fixed downstream candidate budgets do not account for prediction uncertainty. To address these challen...