自动驾驶 - arXivDaily 专题

2505.12311 2026-02-04 cs.RO 70%

Scene-Adaptive Motion Planning with Explicit Mixture of Experts and Interaction-Oriented Optimization

场景自适应运动规划与显式专家混合及交互导向优化

Hongbiao Zhu, Liulong Ma, Xian Wu, Xin Deng, Xiaoyao Liang

机构 * Automotive New Technology Research Institute, BYD Company Limited（比亚迪公司自动驾驶新技术研究院）

专题命中规划控制：autonomous driving(abstract)；trajectory planning(abstract)；分类 cs.RO

AI总结本文提出EMoE-Planner，通过显式专家混合和交互导向优化，解决复杂城市环境中自主驾驶轨迹规划的多模态、场景多样性和环境交互问题，实现超越传统规则算法的性能。

Comments Main text 10 pages with 7 figures

2512.23220 2025-12-30 cs.RO 70%

A Human-Oriented Cooperative Driving Approach: Integrating Driving Intention, State, and Conflict

面向人类的协作驾驶方法：整合驾驶意图、状态和冲突

Qin Wang, Shanmin Pang, Jianwu Fang, Shengye Dong, Fuhao Liu, Jianru Xue, Chen Lv

机构 * School of Software Engineering, Xi’an Jiaotong University（软件工程学院，西安交通大学）； School of Artificial Intelligence, Xi’an Jiaotong University（人工智能学院，西安交通大学）； School of Mechanical and Aerospace Engineering, Nanyang Technological University（机械与航空航天工程学院，南洋理工大学）

专题命中规划控制：autonomous driving(abstract)；trajectory planning(abstract)；分类 cs.RO

AI总结本文提出面向人类的协作驾驶方法，通过意图感知轨迹规划和控制权分配策略，提升驾驶性能并减少人机冲突。

2506.13558 2025-12-09 cs.CV 70%

X-Scene: Large-Scale Driving Scene Generation with High Fidelity and Flexible Controllability

X-Scene: 通过高保真和灵活可控性实现大规模驾驶场景生成

Yu Yang, Alan Liang, Jianbiao Mei, Yukai Ma, Yong Liu, Gim Hee Lee

机构 * Zhejiang University（浙江大学）； National University of Singapore（新加坡国立大学）

专题命中规划控制：autonomous driving(abstract)；occupancy(abstract)；分类 cs.CV

AI总结 X-Scene通过高保真和灵活可控性实现大规模驾驶场景生成，支持多粒度控制和一致性外推，提升自动驾驶的数据生成与模拟能力。

Comments Accepted by NeurIPS 2025, Project page at https://x-scene.github.io/

2512.04459 2025-12-05 cs.CV 70%

dVLM-AD: Enhance Diffusion Vision-Language-Model for Driving via Controllable Reasoning

dVLM-AD：通过可控推理增强扩散视觉语言模型以实现驾驶

Yingzi Ma, Yulong Cao, Wenhao Ding, Shuibai Zhang, Yan Wang, Boris Ivanovic, Ming Jiang, Marco Pavone, Chaowei Xiao

机构 * University of Wisconsin-Madison（威斯康星大学麦迪逊分校）； NVIDIA（英伟达）； Stanford University（斯坦福大学）； Johns Hopkins University（约翰霍普金斯大学）

专题命中规划控制：autonomous driving(abstract)；end-to-end driving(abstract)；分类 cs.CV

AI总结 dVLM-AD通过可控推理提升扩散视觉语言模型，实现更一致的驾驶推理与规划性能。

2505.09074 2025-11-13 cs.RO 70%

Trends in Motion Prediction Toward Deployable and Generalizable Autonomy: A Revisit and Perspectives

Letian Wang, Marc-Antoine Lavoie, Sandro Papais, Barza Nisar, Yuxiao Chen, Wenhao Ding, Boris Ivanovic, Hao Shao, Abulikemu Abuduweili, Evan Cook, Yang Zhou, Peter Karkus, Jiachen Li, Changliu Liu, Marco Pavone, Steven Waslander

专题命中规划控制：autonomous driving(abstract)；self-driving(abstract)；分类 cs.RO

Comments (Book) To Appear in Foundation and Trends in Robotics. 163 pages, 40 figures, 13 tables

2510.12703 2025-10-15 cs.AI cs.NI 70%

CAMNet: Leveraging Cooperative Awareness Messages for Vehicle Trajectory Prediction

Mattia Grasselli, Angelo Porrello, Carlo Augusto Grazia

机构 * Department of Engineering ``Enzo Ferrari'' University of Modena

专题命中规划控制：autonomous driving(abstract)；LiDAR(abstract)；分类 cs.AI

Comments Accepted at the IEEE Consumer Communications & Networking Conference (CCNC) 2026 - Las Vegas, NV, USA 9 - 12 January 2026

2412.13188 2025-08-27 cs.CV 70%

StreetCrafter: Street View Synthesis with Controllable Video Diffusion Models

Yunzhi Yan, Zhen Xu, Haotong Lin, Haian Jin, Haoyu Guo, Yida Wang, Kun Zhan, Xianpeng Lang, Hujun Bao, Xiaowei Zhou, Sida Peng

机构 * Zhejiang University（浙江大学）； Li Auto Inc.（Li汽车公司）； Cornell University（康奈尔大学）

专题命中规划控制：autonomous driving(abstract)；LiDAR(abstract)；分类 cs.CV

Comments Project page: https://zju3dv.github.io/street_crafter

2507.09144 2025-08-05 cs.CV 70%

$I^{2}$-World: Intra-Inter Tokenization for Efficient Dynamic 4D Scene Forecasting

Zhimin Liao, Ping Wei, Ruijie Zhang, Shuaijia Chen, Haoxuan Wang, Ziyang Ren

机构 * National Key Laboratory of Human-Machine Hybrid Augmented Intelligence（人机混合增强智能国家级重点实验室）； Institute of Artificial Intelligence and Robotics, Xi’an Jiaotong University（人工智能与机器人学院，西安交通大学）

专题命中规划控制：autonomous driving(abstract)；occupancy(abstract)；分类 cs.CV

2508.00303 2025-08-04 cs.RO 70%

TopoDiffuser: A Diffusion-Based Multimodal Trajectory Prediction Model with Topometric Maps

Zehui Xu, Junhui Wang, Yongliang Shi, Chao Gao, Guyue Zhou

机构 * School of Astronautics, Harbin Institute of Technology（哈尔滨工业大学航天学院）； Institute for AI Industry Research (AIR), Tsinghua University（清华大学人工智能产业研究院）； Institute of Systems Engineering and Collaborative Laboratory for Intelligent Science and Systems, Macau University of Science and Technology（澳门科学大学系统工程研究所）； School of Vehicle and Mobility, Tsinghua University（清华大学车辆与移动系统学院）

专题命中规划控制：BEV(abstract)；LiDAR(abstract)；分类 cs.RO

2506.06854 2025-08-04 cs.CV 70%

DONUT: A Decoder-Only Model for Trajectory Prediction

Markus Knoche, Daan de Geus, Bastian Leibe

机构 * RWTH Aachen University（亚琛工业大学）； Eindhoven University of Technology（埃因霍温理工大学）

专题命中规划控制：autonomous driving(abstract)；self-driving(abstract)；分类 cs.CV

Comments ICCV 2025. Project page at https://vision.rwth-aachen.de/donut

2507.06441 2025-07-10 eess.SY cs.RO cs.SY 70%

VisioPath: Vision-Language Enhanced Model Predictive Control for Safe Autonomous Navigation in Mixed Traffic

Shanting Wang, Panagiotis Typaldos, Chenjun Li, Andreas A. Malikopoulos

机构 * System Engineering Program, Cornell University（Cornell大学系统工程项目）； School of Civil and Environmental Engineering, Cornell University（Cornell大学土木与环境工程学院）； School of Electrical and Computer Engineering, Cornell University（Cornell大学电气与计算机工程学院）

专题命中规划控制：autonomous driving(abstract)；trajectory planning(abstract)；分类 cs.RO

2502.08974 2025-07-02 cs.CV 70%

Topo2Seq: Enhanced Topology Reasoning via Topology Sequence Learning

Yiming Yang, Yueru Luo, Bingkun He, Erlong Li, Zhipeng Cao, Chao Zheng, Shuqi Mei, Zhen Li

专题命中规划控制：autonomous driving(abstract)；self-driving(abstract)；分类 cs.CV

Journal ref Proceedings of the AAAI Conference on Artificial Intelligence (AAAI-2025), 39(9), 9318-9326

2505.24390 2025-06-02 cs.RO 70%

SAH-Drive: A Scenario-Aware Hybrid Planner for Closed-Loop Vehicle Trajectory Generation

Yuqi Fan, Zhiyong Cui, Zhenning Li, Yilong Ren, Haiyang Yu

专题命中规划控制：autonomous driving(abstract)；trajectory planning(abstract)；分类 cs.RO

Comments 17 pages, 8 figures, International Conference on Machine Learning

2505.15304 2025-06-02 cs.RO 70%

Saliency-Aware Quantized Imitation Learning for Efficient Robotic Control

Seongmin Park, Hyungmin Kim, Sangwoo Kim, Wonseok Jeon, Juyoung Yang, Byeongwook Jeon, Yoonseon Oh, Jungwook Choi

机构 * Hanyang University（翰阳大学）； Hyundai Motor Company（现代汽车公司）

专题命中规划控制：autonomous driving(abstract)；self-driving(abstract)；分类 cs.RO

Comments arXiv admin note: text overlap with arXiv:2412.01034

2503.22201 2025-03-31 cs.CV 70%

Multi-modal Knowledge Distillation-based Human Trajectory Forecasting

Jaewoo Jeong, Seohee Lee, Daehee Park, Giwon Lee, Kuk-Jin Yoon

专题命中规划控制：autonomous driving(abstract)；BEV(abstract)；分类 cs.CV

Comments Accepted to CVPR 2025

2503.18276 2025-03-25 cs.RO 70%

Learning Orientation Field for OSM-Guided Autonomous Navigation

Yuming Huang, Wei Gao, Zhiyuan Zhang, Maani Ghaffari, Dezhen Song, Cheng-Zhong Xu, Hui Kong

专题命中规划控制：LiDAR(abstract)；trajectory planning(abstract)；分类 cs.RO

Comments 14 pages, 12 figures, and 5 tables

2409.09523 2025-03-07 cs.RO 70%

Lab2Car: A Versatile Wrapper for Deploying Experimental Planners in Complex Real-world Environments

Marc Heim, Francisco Suarez-Ruiz, Ishraq Bhuiyan, Bruno Brito, Momchil S. Tomov

专题命中规划控制：autonomous driving(abstract)；self-driving(abstract)；分类 cs.RO

Comments This work has been submitted to the IEEE for possible publication

2406.02916 2025-01-22 cs.RO 70%

Real-time Motion Planning for autonomous vehicles in dynamic environments

Mohammad Dehghani Tezerjani, Dominic Carrillo, Deyuan Qu, Sudip Dhakal, Amir Mirzaeinia, Qing Yang

专题命中规划控制：self-driving(abstract)；trajectory planning(abstract)；分类 cs.RO

Comments 8 pages

2501.09327 2025-01-20 cs.LG cs.AI 70%

On Learning Informative Trajectory Embeddings for Imitation, Classification and Regression

Zichang Ge, Changyu Chen, Arunesh Sinha, Pradeep Varakantham

专题命中规划控制：autonomous driving(abstract)；self-driving(abstract)；分类 cs.AI

Comments AAMAS 2025

2408.11559 2025-01-10 cs.CV 70%

Semi-supervised 3D Semantic Scene Completion with 2D Vision Foundation Model Guidance

Duc-Hai Pham, Duc-Dung Nguyen, Anh Pham, Tuan Ho, Phong Nguyen, Khoi Nguyen, Rang Nguyen

专题命中规划控制：LiDAR(abstract)；occupancy(abstract)；分类 cs.CV

Comments Accepted at AAAI2025. Project Page: https://vinairesearch.github.io/SemiSSC

2411.15003 2024-11-27 cs.RO 70%

Autonomous Tail-Sitter Flights in Unknown Environments

Guozheng Lu, Yunfan Ren, Fangcheng Zhu, Haotian Li, Ruize Xue, Yixi Cai, Ximin Lyu, Fu Zhang

专题命中规划控制：LiDAR(abstract)；trajectory planning(abstract)；分类 cs.RO

2406.16713 2024-11-15 cs.RO 70%

ShanghaiTech Mapping Robot is All You Need: Robot System for Collecting Universal Ground Vehicle Datasets

Bowen Xu, Xiting Zhao, Delin Feng, Yuanyuan Yang, Sören Schwertfeger

专题命中规划控制：autonomous driving(abstract)；LiDAR(abstract)；分类 cs.RO

Comments 19 pages, 27 figures. Submitted to IEEE Transactions on Robotics

2410.11211 2024-10-17 cs.CV cs.LG 70%

CVCP-Fusion: On Implicit Depth Estimation for 3D Bounding Box Prediction

Pranav Gupta, Rishabh Rengarajan, Viren Bankapur, Vedansh Mannem, Lakshit Ahuja, Surya Vijay, Kevin Wang

专题命中规划控制：BEV(abstract)；LiDAR(abstract)；分类 cs.CV

Comments 7 pages, 5 figures. arXiv admin note: text overlap with arXiv:2205.02833 by other authors

Journal ref Curieux Academic Journal Part 2 Issue 43 (2024), pp. 626-634

2410.06007 2024-10-10 cs.CV 70%

Motion Forecasting in Continuous Driving

Nan Song, Bozhou Zhang, Xiatian Zhu, Li Zhang

专题命中规划控制：autonomous driving(abstract)；self-driving(abstract)；分类 cs.CV

Comments Accepted at NeurIPS 2024 Spotlight

2404.08271 2024-08-08 cs.LG cs.RO 70%

Transfer Learning Study of Motion Transformer-based Trajectory Predictions

Lars Ullrich, Alex McMaster, Knut Graichen

专题命中规划控制：autonomous driving(abstract)；trajectory planning(abstract)；分类 cs.RO

Comments Published in 2024 IEEE Intelligent Vehicles Symposium (IV), Jeju Shinhwa World, Jeju Island, Korea, June 2-5, 2024

Journal ref 2024 IEEE Intelligent Vehicles Symposium (IV), Jeju Shinhwa World, Jeju Island, Korea, June 2-5, 2024, pp. 110-117

2407.19463 2024-07-30 cs.RO 70%

HD-maps as Prior Information for Globally Consistent Mapping in GPS-denied Environments

Waqas Ali, Patric Jensfelt, Thien-Minh Nguyen

专题命中规划控制：autonomous driving(abstract)；LiDAR(abstract)；分类 cs.RO

2302.12931 2024-07-04 cs.RO 70%

CATNIPS: Collision Avoidance Through Neural Implicit Probabilistic Scenes

Timothy Chen, Preston Culbertson, Mac Schwager

专题命中规划控制：occupancy(abstract)；trajectory planning(abstract)；分类 cs.RO

Comments Published in IEEE Transactions on Robotics

Journal ref IEEE Transactions on Robotics, vol. 40, pp. 2712-2728, 2024

2406.01587 2024-06-05 cs.RO 70%

PlanAgent: A Multi-modal Large Language Agent for Closed-loop Vehicle Motion Planning

Yupeng Zheng, Zebin Xing, Qichao Zhang, Bu Jin, Pengfei Li, Yuhang Zheng, Zhongpu Xia, Kun Zhan, Xianpeng Lang, Yaran Chen, Dongbin Zhao

专题命中规划控制：autonomous driving(abstract)；BEV(abstract)；分类 cs.RO

Comments This work has been submitted to the IEEE for possible publication

2402.17050 2024-05-15 eess.SY cs.RO cs.SY 70%

Reinforcement Learning Based Oscillation Dampening: Scaling up Single-Agent RL algorithms to a 100 AV highway field operational test

Kathy Jang, Nathan Lichtlé, Eugene Vinitsky, Adit Shah, Matthew Bunting, Matthew Nice, Benedetto Piccoli, Benjamin Seibold, Daniel B. Work, Maria Laura Delle Monache, Jonathan Sprinkle, Jonathan W. Lee, Alexandre M. Bayen

专题命中规划控制：autonomous driving(abstract)；self-driving(abstract)；分类 cs.RO

2305.20044 2024-04-09 cs.RO 70%

Probabilistic Uncertainty Quantification of Prediction Models with Application to Visual Localization

Junan Chen, Josephine Monica, Wei-Lun Chao, Mark Campbell

专题命中规划控制：autonomous driving(abstract)；self-driving(abstract)；分类 cs.RO

Comments Extended version of our ICRA2023 paper

1. 规划控制 4245 篇

Scene-Adaptive Motion Planning with Explicit Mixture of Experts and Interaction-Oriented Optimization

A Human-Oriented Cooperative Driving Approach: Integrating Driving Intention, State, and Conflict

X-Scene: Large-Scale Driving Scene Generation with High Fidelity and Flexible Controllability

dVLM-AD: Enhance Diffusion Vision-Language-Model for Driving via Controllable Reasoning

Trends in Motion Prediction Toward Deployable and Generalizable Autonomy: A Revisit and Perspectives

CAMNet: Leveraging Cooperative Awareness Messages for Vehicle Trajectory Prediction

StreetCrafter: Street View Synthesis with Controllable Video Diffusion Models

$I^{2}$-World: Intra-Inter Tokenization for Efficient Dynamic 4D Scene Forecasting

TopoDiffuser: A Diffusion-Based Multimodal Trajectory Prediction Model with Topometric Maps

DONUT: A Decoder-Only Model for Trajectory Prediction

VisioPath: Vision-Language Enhanced Model Predictive Control for Safe Autonomous Navigation in Mixed Traffic

Topo2Seq: Enhanced Topology Reasoning via Topology Sequence Learning

SAH-Drive: A Scenario-Aware Hybrid Planner for Closed-Loop Vehicle Trajectory Generation

Saliency-Aware Quantized Imitation Learning for Efficient Robotic Control

Multi-modal Knowledge Distillation-based Human Trajectory Forecasting

Learning Orientation Field for OSM-Guided Autonomous Navigation

Lab2Car: A Versatile Wrapper for Deploying Experimental Planners in Complex Real-world Environments

Real-time Motion Planning for autonomous vehicles in dynamic environments

On Learning Informative Trajectory Embeddings for Imitation, Classification and Regression

Semi-supervised 3D Semantic Scene Completion with 2D Vision Foundation Model Guidance

Autonomous Tail-Sitter Flights in Unknown Environments

ShanghaiTech Mapping Robot is All You Need: Robot System for Collecting Universal Ground Vehicle Datasets

CVCP-Fusion: On Implicit Depth Estimation for 3D Bounding Box Prediction

Motion Forecasting in Continuous Driving

Transfer Learning Study of Motion Transformer-based Trajectory Predictions

HD-maps as Prior Information for Globally Consistent Mapping in GPS-denied Environments

CATNIPS: Collision Avoidance Through Neural Implicit Probabilistic Scenes

PlanAgent: A Multi-modal Large Language Agent for Closed-loop Vehicle Motion Planning

Reinforcement Learning Based Oscillation Dampening: Scaling up Single-Agent RL algorithms to a 100 AV highway field operational test

Probabilistic Uncertainty Quantification of Prediction Models with Application to Visual Localization