Beyond Waypoint Regression: Query-Based Cost Learning over Reachable Ego Futures for End-to-End Driving
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-time safety constraints. We propose a query-based cost-learning framework that estimates bounded costs for dynamically reachable ego trajector...
Ahmed Abouelazm, Rupert Polley, Qing-Yuan Zhang et al.
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