Yu-Jie Guo

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...