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cs.RO2026
Frequency-Guided Action Diffusion via Sub-Frequency Manifold Traversal
Junlin Wang
Learning visuomotor policies via behavior cloning typically involves mimicking expert demonstrations collected by human operators. However, natural human demonstrations inherently…
cs.RO2026
Beyond Imitation: Learning Safe End-to-End Autonomous Driving from Hard Negatives
Junli Wang, Zhihua Hua, Xueyi Liu +7
Existing imitation learning methods for end-to-end autonomous driving predominantly learn from successful demonstrations by minimizing geometric deviations from expert trajectories…
cs.RO2026
Unveiling the Surprising Efficacy of Navigation Understanding in End-to-End Autonomous Driving
Zhihua Hua, Junli Wang, Pengfei LI +6
Global navigation information and local scene understanding are two crucial components of autonomous driving systems. However, our experimental results indicate that many end-to-en…