2 papers
cs.CV2026
Planning-Aligned Pretraining of BEV Representations with Sparse Action-Conditioned Targets for End-to-End Autonomous Driving
Jaeha Song, Soonmin Hwang
End-to-end driving requires planning-relevant bird's-eye-view (BEV) representations, but existing pretraining approaches often rely on task annotations or dense scene reconstructio…
cs.RO2026
Reasoning About Traversability: Language-Guided Off-Road 3D Trajectory Planning
Byounggun Park, Soonmin Hwang
While Vision-Language Models (VLMs) enable high-level semantic reasoning for end-to-end autonomous driving, particularly in unstructured environments, existing off-road datasets su…