Author

Zhijing Cheng

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Jul 2026

MOJITO: Modal Joint Learning for Unified End-to-End Autonomous Driving

End-to-end autonomous driving systems commonly follow a cascaded two-stage pipeline where a perception stage compresses multi-modal sensor inputs into a compact context and a downstream planner predicts trajectories conditioned on this context. We argue that this one-way perception-to-planning interface forces sensor i...

Zhijing Cheng, Xuan Zhang, Donglin Di et al. · arXiv.org · 0 citations