S2Planner: Multi-Scale Semantic Planner for End-to-End Autonomous Driving
We present S2Planner, a trajectory planner that combines three front-facing cameras with ego-motion history and the current driving command. A fine-tuned DINOv3 backbone and a Spatial Tuning Adapter produce multi-scale image features; a coarse-to-fine decoder then uses trajectory self-attention and camera-projected cro...
Zhao-Wei Lu, Li-Guo Zhou, Yu-Jie Guo et al.
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