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cs.RO2026
Large Discrete Policy: Advancing Explicit Behavior Modeling with Stochastic Iterative Scoring
Zhenxin Li, Nadine Chang, Xinglong Sun +8
Behavior policies are often formulated as continuous generative models, whose iterative denoising processes are expressive but difficult to interpret and prone to producing implaus…
cs.RO2025
Zero-Human Demonstration End-to-end Autonomous Driving with Trajectory Scorer
Zhenxin Li, Nadine Chang, Wenhao Yao +9
Human demonstrations are widely considered the cornerstone of end-to-end (E2E) autonomous driving despite human demonstration's scarcity for long-tail and safety-critical scenarios…