自动驾驶

RLCNet: An end-to-end deep learning framework for simultaneous online calibration of LiDAR, RADAR, and Camera

RLCNet: 一种用于同时在线校准激光雷达、雷达和摄像头的端到端深度学习框架

Hafeez Husain Cholakkal, Stefano Arrigoni, Francesco Braghin

机构 * Department of Mechanical Engineering, Politecnico di Milano（机械工程系，米兰理工学院） 纠错

专题命中 端到端驾驶 ：LiDAR(title,abstract)；分类 cs.RO、cs.CV

AI总结 RLCNet通过端到端深度学习框架实现激光雷达、雷达和摄像头的同时在线校准，提升自动驾驶系统在动态环境中的感知可靠性。

Mimir: Hierarchical Goal-Driven Diffusion with Uncertainty Propagation for End-to-End Autonomous Driving

Mimir：基于不确定性传播的分层目标驱动扩散用于端到端自动驾驶

Zebin Xing, Yupeng Zheng, Qichao Zhang, Zhixing Ding, Pengxuan Yang, Songen Gu, Zhongpu Xia, Dongbin Zhao

机构 * Institue of Automation, Chinese Academy of Sciences（中国科学院自动化研究所） ； China University of Geosciences（中国地质大学） ； Fudan University（复旦大学） 纠错

专题命中 端到端驾驶 ：autonomous driving(title,abstract)；分类 cs.RO、cs.CV

AI总结 Mimir通过不确定性传播和多速率指导机制，提升端到端自动驾驶中轨迹生成的鲁棒性和推理效率。

World Models for Autonomous Navigation of Terrestrial Robots from LIDAR Observations

基于LIDAR观测的地面机器人自主导航的World Models

Raul Steinmetz, Fabio Demo Rosa, Victor Augusto Kich, Jair Augusto Bottega, Ricardo Bedin Grando, Daniel Fernando Tello Gamarra

机构 * Universidade Federal de Santa Maria, Brazil（巴西联邦大学圣玛利亚分校） ； University of Tsukuba, Japan（日本筑波大学） ； Universidade Federal de Rio Grande（巴西联邦大学里约格兰德分校） ； Universidad Tecnológica del Uruguay, Uruguay（乌拉圭技术大学） 纠错

专题命中 端到端驾驶 ：LiDAR(title,abstract)；分类 cs.RO、cs.AI

AI总结 本文提出基于DreamerV3算法的模型驱动强化学习框架，通过整合MLP-VAE实现高维LIDAR数据的高效编码与潜在表示学习，提升地面机器人自主导航的效率与鲁棒性。

Comments Accepted for publication in the Journal of Intelligent and Fuzzy Systems

Vehicle Dynamics Embedded World Models for Autonomous Driving

用于自动驾驶的车辆动力学嵌入世界模型

Huiqian Li, Wei Pan, Haodong Zhang, Jin Huang, Zhihua Zhong

机构 * School of Vehicle and Mobility, Tsinghua University（清华大学车辆与移动系统学院） ； Department of Computer Science, The University of Manchester（曼彻斯特大学计算机科学系） ； Tsinghua University, Chinese Academy of Engineering（清华大学、中国工程院） 纠错

专题命中 端到端驾驶 ：autonomous driving(title,abstract)；分类 cs.RO、cs.AI

AI总结 本文提出VDD方法，通过分离车辆动力学与环境动力学建模，提升自动驾驶中对车辆参数变化的鲁棒性。

Model-Based Policy Adaptation for Closed-Loop End-to-End Autonomous Driving

基于模型的策略适应用于闭环端到端自动驾驶

Haohong Lin, Yunzhi Zhang, Wenhao Ding, Jiajun Wu, Ding Zhao

机构 * CMU（卡内基梅隆大学） ； Stanford（斯坦福大学） ； NVIDIA（英伟达） 纠错

专题命中 端到端驾驶 ：autonomous driving(title,abstract)；分类 cs.RO、cs.AI

AI总结 本文提出基于模型的策略适应框架，通过生成反事实轨迹和训练Q值模型提升自动驾驶在闭环环境中的鲁棒性和安全性。

Comments Published at NeurIPS 2025: https://openreview.net/forum?id=4OLbpaTKJe

StyleDrive: Towards Driving-Style Aware Benchmarking of End-To-End Autonomous Driving

Ruiyang Hao, Bowen Jing, Haibao Yu, Zaiqing Nie

机构 * AIR, Tsinghua University（空气动力学研究所，清华大学） ； King’s College London（伦敦国王学院） ； The University of Manchester（曼彻斯特大学） ； The University of Hong Kong（香港大学） 纠错

专题命中 端到端驾驶 ：autonomous driving(title,abstract)；分类 cs.RO、cs.CV

Comments 25 pages, 7 figures, 5 tables

SparseWorld: A Flexible, Adaptive, and Efficient 4D Occupancy World Model Powered by Sparse and Dynamic Queries

Chenxu Dang, Haiyan Liu, Jason Bao, Pei An, Xinyue Tang, PanAn, Jie Ma, Bingchuan Sun, Yan Wang

机构 * AIR 纠错

专题命中 端到端驾驶 ：occupancy(title,abstract)；分类 cs.CV、cs.AI

Comments Accepted by AAAI2026 Code: https://github.com/MSunDYY/SparseWorld

FastDriveVLA: Efficient End-to-End Driving via Plug-and-Play Reconstruction-based Token Pruning

Jiajun Cao, Qizhe Zhang, Peidong Jia, Xuhui Zhao, Bo Lan, Xiaoan Zhang, Zhuo Li, Xiaobao Wei, Sixiang Chen, Liyun Li, Xianming Liu, Ming Lu, Yang Wang, Shanghang Zhang

专题命中 端到端驾驶 ：end-to-end driving(title)；autonomous driving(abstract)；分类 cs.CV、cs.AI

Comments Accepted by AAAI 2026

DiffVLA++: Bridging Cognitive Reasoning and End-to-End Driving through Metric-Guided Alignment

Yu Gao, Anqing Jiang, Yiru Wang, Wang Jijun, Hao Jiang, Zhigang Sun, Heng Yuwen, Wang Shuo, Hao Zhao, Sun Hao

机构 * RIX, Bosch（博世研究院） ； AIR, Tsinghua University（清华大学人工智能研究院） ； Shanghai Jiao Tong University（上海交通大学） 纠错

专题命中 端到端驾驶 ：end-to-end driving(title)；autonomous driving(abstract)；分类 cs.RO、cs.CV

Embodied Cognition Augmented End2End Autonomous Driving

Ling Niu, Xiaoji Zheng, Han Wang, Chen Zheng, Ziyuan Yang, Bokui Chen, Jiangtao Gong

机构 * Tsinghua University（清华大学） ； University of Washington（华盛顿大学） 纠错

专题命中 端到端驾驶 ：autonomous driving(title,abstract)；分类 cs.RO、cs.AI

Comments 24 pages,4 pages

Journal ref NeurIPS 2025

ComDrive: Comfort-Oriented End-to-End Autonomous Driving

Junming Wang, Xingyu Zhang, Zebin Xing, Songen Gu, Xiaoyang Guo, Yang Hu, Ziying Song, Qian Zhang, Xiaoxiao Long, Wei Yin

机构 * Horizon Robotics ； University of Hong Kong（香港大学） ； University of the Chinese Academy of Sciences（中国科学院大学） ； Nanjing University（南京大学） ； Beijing Jiaotong University（北京交通大学） 纠错

专题命中 端到端驾驶 ：autonomous driving(title,abstract)；分类 cs.RO、cs.CV

Comments IROS 2025

RAD: Training an End-to-End Driving Policy via Large-Scale 3DGS-based Reinforcement Learning

Hao Gao, Shaoyu Chen, Bo Jiang, Bencheng Liao, Yiang Shi, Xiaoyang Guo, Yuechuan Pu, Haoran Yin, Xiangyu Li, Xinbang Zhang, Ying Zhang, Wenyu Liu, Qian Zhang, Xinggang Wang

机构 * Huazhong University of Science & Technology（华中科技大学） ； Horizon Robotics（地平线科技） 纠错

专题命中 端到端驾驶 ：end-to-end driving(title)；autonomous driving(abstract)；分类 cs.RO、cs.CV

Comments Code: https://github.com/hustvl/RAD

A Knowledge-Driven Diffusion Policy for End-to-End Autonomous Driving Based on Expert Routing

Chengkai Xu, Jiaqi Liu, Yicheng Guo, Peng Hang, Jian Sun

机构 * College of Transportation, Tongji University（同济大学交通运输学院） ； Department of Computer Science, University of North Carolina at Chapel Hill（北卡罗来纳大学教堂山分校计算机科学系） 纠错

专题命中 端到端驾驶 ：autonomous driving(title,abstract)；分类 cs.RO、cs.AI

Comments https://perfectxu88.github.io/KDP-AD/

DriveDPO: Policy Learning via Safety DPO For End-to-End Autonomous Driving

Shuyao Shang, Yuntao Chen, Yuqi Wang, Yingyan Li, Zhaoxiang Zhang

机构 * NLPR, Institute of Automation, Chinese Academy of Sciences（中国科学院自动化研究所神经网络与模式识别实验室） ； University of Chinese Academy of Sciences（中国科学院大学） 纠错

专题命中 端到端驾驶 ：autonomous driving(title,abstract)；分类 cs.RO、cs.CV

Comments NeurIPS 2025

CoReVLA: A Dual-Stage End-to-End Autonomous Driving Framework for Long-Tail Scenarios via Collect-and-Refine

Shiyu Fang, Yiming Cui, Haoyang Liang, Chen Lv, Peng Hang, Jian Sun

机构 * College of Transportation, Tongji University（同济大学交通运输学院） 纠错

专题命中 端到端驾驶 ：autonomous driving(title,abstract)；分类 cs.RO、cs.CV

LightEMMA: Lightweight End-to-End Multimodal Model for Autonomous Driving

Zhijie Qiao, Haowei Li, Zhong Cao, Henry X. Liu

机构 * Department of Civil and Environmental Engineering, University of Michigan（土木与环境工程系，密歇根大学） ； University of Michigan Transportation Research Institute（密歇根大学交通研究所） 纠错

专题命中 端到端驾驶 ：autonomous driving(title,abstract)；分类 cs.RO、cs.AI

GEMINUS: Dual-aware Global and Scene-Adaptive Mixture-of-Experts for End-to-End Autonomous Driving

Chi Wan, Yixin Cui, Jiatong Du, Shuo Yang, Yulong Bai, Peng Yi, Nan Li, Yanjun Huang

机构 * School of Automotive Studies, Tongji University（汽车学院，同济大学） ； School of Electronics and Information Engineering, Control Science and Engineering Department, Tongji University（电子信息学院，控制科学与工程系，同济大学） 纠错

专题命中 端到端驾驶 ：autonomous driving(title,abstract)；分类 cs.RO、cs.CV

Efficient and Generalized end-to-end Autonomous Driving System with Latent Deep Reinforcement Learning and Demonstrations

Zuojin Tang, Xiaoyu Chen, Yongqiang Li, Jianyu Chen

机构 * Shanghai Qizhi Institute（上海启智研究所） ； College of Computer Science and Technology, Zhejiang University（浙江大学计算机科学与技术学院） ； Institute for Interdisciplinary Information Sciences, Tsinghua University（清华大学交叉信息学院） ； Mogo Auto Intelligence and Telematics Information Technology Co., Ltd（摩戈智能与 telemetry 信息技术有限公司） 纠错

专题命中 端到端驾驶 ：autonomous driving(title,abstract)；分类 cs.RO、cs.AI

Comments Accepted by ECML PKDD 2025 (Research Track)

Semi-SMD: Semi-Supervised Metric Depth Estimation via Surrounding Cameras for Autonomous Driving

Yusen Xie, Zhengmin Huang, Shaojie Shen, Jun Ma

机构 * Robotics and Autonomous Systems Thrust, The Hong Kong University of Science and Technology (Guangzhou)（机器人与自主系统方向，香港科学与技术大学（广州）） ； Department of Electronic and Computer Engineering, The Hong Kong University of Science and Technology（电子与计算机工程系，香港科学与技术大学） 纠错

专题命中 端到端驾驶 ：autonomous driving(title,abstract)；分类 cs.RO、cs.CV

Research Challenges and Progress in the End-to-End V2X Cooperative Autonomous Driving Competition

Ruiyang Hao, Haibao Yu, Jiaru Zhong, Chuanye Wang, Jiahao Wang, Yiming Kan, Wenxian Yang, Siqi Fan, Huilin Yin, Jianing Qiu, Yao Mu, Jiankai Sun, Li Chen, Walter Zimmer, Dandan Zhang, Shanghang Zhang, Mac Schwager, Ping Luo, Zaiqing Nie

机构 * Tsinghua University（清华大学） ； Hong Kong University（香港大学） ； Tongji University（同济大学） ； Chinese University of Hong Kong（香港中文大学） ； Shanghai Jiao Tong University（上海交通大学） ； Stanford University（斯坦福大学） ； OpenDriveLab（OpenDrive实验室） ； Technical University of Munich（慕尼黑技术大学） ； Imperial College London（伦敦帝国理工学院） ； Peking University（北京大学） 纠错

专题命中 端到端驾驶 ：autonomous driving(title,abstract)；分类 cs.RO、cs.CV

Comments 10 pages, 4 figures, accepted by ICCVW Author list updated to match the camera-ready version, in compliance with conference policy

DistillDrive: End-to-End Multi-Mode Autonomous Driving Distillation by Isomorphic Hetero-Source Planning Model

Rui Yu, Xianghang Zhang, Runkai Zhao, Huaicheng Yan, Meng Wang

机构 * East China University of Science and Technology（东华大学） ； SenseAuto Research（SenseAuto研究院） ； The University of Sydney（悉尼大学） 纠错

专题命中 端到端驾驶 ：autonomous driving(title,abstract)；分类 cs.RO、cs.CV

SEAL: Towards Safe Autonomous Driving via Skill-Enabled Adversary Learning for Closed-Loop Scenario Generation

Benjamin Stoler, Ingrid Navarro, Jonathan Francis, Jean Oh

机构 * School of Computer Science, Carnegie Mellon University（卡内基梅隆大学计算机科学系） 纠错

专题命中 端到端驾驶 ：autonomous driving(title,abstract)；分类 cs.RO、cs.AI

Comments Accepted to the IEEE Robotics and Automation Letters (RA-L) on June 28, 2025

LLM-attacker: Enhancing Closed-loop Adversarial Scenario Generation for Autonomous Driving with Large Language Models

Yuewen Mei, Tong Nie, Jian Sun, Ye Tian

机构 * Department of Traffic Engineering and Key Laboratory of Road and Traffic Engineering, Ministry of Education, Tongji University（交通工程系和道路与交通工程重点实验室、教育部长江大学） ； Department of Civil & Environmental Engineering, The Hong Kong Polytechnic University（土木及环境工程系、香港理工大学） 纠错

专题命中 端到端驾驶 ：autonomous driving(title,abstract)；分类 cs.RO、cs.CV

Comments Accepted as a regular paper at IEEE TITS 2025

Journal ref IEEE Transactions on Intelligent Transportation Systems 2025

METDrive: Multi-modal End-to-end Autonomous Driving with Temporal Guidance

Ziang Guo, Xinhao Lin, Zakhar Yagudin, Artem Lykov, Yong Wang, Yanqiang Li, Dzmitry Tsetserukou

机构 * Intelligent Space Robotics Laboratory, Center for Digital Engineering, Skolkovo Institute of Science and Technology（斯克尔科沃科学与技术研究所智能空间机器人实验室，数字工程中心） ； Institute of Automation, Qilu University of Technology (Shandong Academy of Sciences)（齐鲁科技大学自动化研究所，山东科学院） 纠错

专题命中 端到端驾驶 ：autonomous driving(title,abstract)；分类 cs.RO、cs.CV

Comments Accepted by ICRA

Occupancy World Model for Robots

Zhang Zhang, Qiang Zhang, Wei Cui, Shuai Shi, Yijie Guo, Gang Han, Wen Zhao, Jingkai Sun, Jiahang Cao, Jiaxu Wang, Hao Cheng, Xiaozhu Ju, Zhengping Che, Renjing Xu, Jian Tang

机构 * Beijing Innovation Center of Humanoid Robotics（北京人形机器人创新中心） ； Beijing Institute of Technology（北京理工大学） ； Hong Kong University of Science and Technology (Guangzhou)（香港科技大学（广州）） 纠错

专题命中 端到端驾驶 ：occupancy(title,abstract)；分类 cs.RO、cs.CV

DiffusionDrive: Truncated Diffusion Model for End-to-End Autonomous Driving

Bencheng Liao, Shaoyu Chen, Haoran Yin, Bo Jiang, Cheng Wang, Sixu Yan, Xinbang Zhang, Xiangyu Li, Ying Zhang, Qian Zhang, Xinggang Wang

专题命中 端到端驾驶 ：autonomous driving(title,abstract)；分类 cs.RO、cs.CV

Comments Accepted to CVPR 2025 as Highlight. Code & demo & model are available at https://github.com/hustvl/DiffusionDrive

DINO Pre-training for Vision-based End-to-end Autonomous Driving

Shubham Juneja, Povilas Daniušis, Virginijus Marcinkevičius

专题命中 端到端驾驶 ：autonomous driving(title,abstract)；分类 cs.RO、cs.CV

Journal ref Baltic Journal of Modern Computing, Vol. 12(4), 2024, pp. 374-386

Unraveling the Effects of Synthetic Data on End-to-End Autonomous Driving

Junhao Ge, Zuhong Liu, Longteng Fan, Yifan Jiang, Jiaqi Su, Yiming Li, Zhejun Zhang, Siheng Chen

专题命中 端到端驾驶 ：autonomous driving(title,abstract)；分类 cs.RO、cs.CV

Dynamically Local-Enhancement Planner for Large-Scale Autonomous Driving

Nanshan Deng, Weitao Zhou, Bo Zhang, Junze Wen, Kun Jiang, Zhong Cao, Diange Yang

专题命中 端到端驾驶 ：autonomous driving(title,abstract)；分类 cs.RO、cs.AI

Doe-1: Closed-Loop Autonomous Driving with Large World Model

Wenzhao Zheng, Zetian Xia, Yuanhui Huang, Sicheng Zuo, Jie Zhou, Jiwen Lu

专题命中 端到端驾驶 ：autonomous driving(title,abstract)；分类 cs.CV、cs.AI

Comments Code is available at: https://github.com/wzzheng/Doe