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cs.RO2026
Beyond Waypoint Regression: Query-Based Cost Learning over Reachable Ego Futures for End-to-End Driving
Ahmed Abouelazm, Rupert Polley, Qingyuan Zhang +4
End-to-end planners based on waypoint regression achieve strong open-loop accuracy, but they primarily learn to mimic expert geometry and remain difficult to adapt to deployment-ti…
cs.RO2026
Safety-Critical Scenarios Emerge from Initial Scenes
Yin Wu, Jiarong Wei, Carl Esselborn +4
Safety-critical driving scenario generation has largely focused on manipulating the behavior of surrounding agents while starting from an initial scene from driving data. This assu…