📄
Abstract - What Matters for Scalable and Robust Learning in End-to-End Driving Planners?
End-to-end autonomous driving has gained significant attention for its potential to learn robust behavior in interactive scenarios and scale with data. Popular architectures often build on separate modules for perception and planning connected through latent representations, such as bird's eye view feature grids, to maintain end-to-end differentiability. This paradigm emerged mostly on open-loop datasets, with evaluation focusing not only on driving performance, but also intermediate perception tasks. Unfortunately, architectural advances that excel in open-loop often fail to translate to scalable learning of robust closed-loop driving. In this paper, we systematically re-examine the impact of common architectural patterns on closed-loop performance: (1) high-resolution perceptual representations, (2) disentangled trajectory representations, and (3) generative planning. Crucially, our analysis evaluates the combined impact of these patterns, revealing both unexpected limitations as well as underexplored synergies. Building on these insights, we introduce BevAD, a novel lightweight and highly scalable end-to-end driving architecture. BevAD achieves 72.7% success rate on the Bench2Drive benchmark and demonstrates strong data-scaling behavior using pure imitation learning. Our code and models are publicly available here: this https URL
端到端驾驶规划器中,哪些因素对可扩展且鲁棒的学习至关重要? /
What Matters for Scalable and Robust Learning in End-to-End Driving Planners?
1️⃣ 一句话总结
这篇论文通过系统分析发现,高分辨率感知、解耦的轨迹表示和生成式规划等常见架构模式在闭环驾驶中的效果与预期不同,并基于此提出了一种名为BevAD的新型轻量级端到端驾驶架构,该架构在Bench2Drive基准测试中取得了72.7%的成功率,并展现出强大的数据扩展能力。