Author

Lei Yang

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Preprint Sep 2026

Towards robust multimodal 3D object detection via visual foundation models

Multimodal 3D object detection is fundamental to robust perception in autonomous driving because it integrates complementary information from LiDAR and camera sensors. However, existing methods often fail to maintain robustness under out-of-distribution (OOD) corruptions caused by sensor noise, adverse weather, and env...

Zi-Ying Song, Lin Liu, Hong-Yu Pan et al. · 0 citations

Preprint Aug 2026

Not All History Helps: Velocity-Aware Selective Memory for Long-Horizon End-to-End Autonomous Driving

Reliable long-horizon planning remains a key challenge in end-to-end autonomous driving. By accounting for future motion evolution and potential consequences, it provides forward-looking guidance for safe and consistent driving in evolving traffic environments. Existing methods use historical planning states as tempora...

Yuchen Liu, Zi-Ying Song, Shengkai Zhang et al. · 0 citations

Preprint Aug 2026

MomADv2: Reliable Temporal Memory for End-to-End Autonomous Driving

MomADv2, a reliable state-space memory framework for long-horizon end-to-end autonomous driving, introduces a Selective State-Space Planning Memory Query Module, which filters historical planning queries based on temporal continuity and command consistency, and models the evolution of planning intentions through a sele...

Zi-Ying Song, Sheng-Kai Zhang, Lin Liu et al. · 0 citations