4 papers
Long-Horizon Consistent and Interaction-Aware World Models for Multi-Style End-to-End Driving
Yuxuan Han, Kunyuan Wu, Liyunong Yang +4
End-to-end autonomous driving has increasingly adopted world model-based reinforcement learning frameworks to improve learning efficiency through \textit{imagined rollouts}. Howeve…
OccPlanner: Goal-Aware Occupancy-Conditioned Diffusion Planner for Pixel-Goal Navigation
Binling Huang, Nianjin Ye, Xi Yang +6
Pixel-goal navigation specifies targets directly in the agent's camera view, but a target pixel provides neither metric depth nor traversability, making 3D goal grounding and colli…
LiDAR Teach, Radar Repeat: Robust Cross-Modal Navigation in Degenerate and Varying Environments
Renxiang Xiao, Yichen Chen, Yuanfan Zhang +5
Long-term autonomy requires robust navigation in environments subject to dynamic and static changes, as well as adverse weather conditions. Teach-and-Repeat (T\&R) navigation offer…
4D-ROLLS: 4D Radar Occupancy Learning via LiDAR Supervision
Ruihan Liu, Xiaoyi Wu, Xijun Chen +2
A comprehensive understanding of 3D scenes is essential for autonomous vehicles (AVs), and among various perception tasks, occupancy estimation plays a central role by providing a…