arXiv:2608. 16338v1 Announce Type: cross Abstract: Video lane detection requires predictions that remain stable across frames, yet severe vehicle occlusions can break temporal cues.
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SV-WAM is a surround‑view world‑action model that keeps all six camera views while enabling efficient inference by discarding the video branch at deployment. It uses future‑video prediction as dense training supervision and an action‑centered causal mask to prevent action tokens from attending to future‑video tokens during joint denoising. A differentiable drivable‑area compliance regularizer penalizes vehicle‑footprint corners near or crossing drivable boundaries, improving safety and boundary awareness. Experiments on NAVSIMv2 and nuScenes show state‑of‑the‑art planning performance with low latency and strong zero‑shot transfer.
SV-WAM is a surround‑view world‑action model that keeps all six camera views for autonomous driving while enabling efficient inference by discarding the video branch during deployment. It uses future‑video prediction as dense training supervision and introduces an action‑centered causal mask to prevent future‑video tokens from influencing action tokens during joint denoising. A differentiable drivable‑area compliance regularizer further improves safety by penalizing vehicle‑footprint corners that approach or cross drivable boundaries. Experiments on NAVSIMv2 and nuScenes show state‑of‑the‑art planning performance with low latency and strong zero‑shot transfer.
RiskWorld is a risk‑aware world modeling framework that forecasts shared occupancy and selectively replaces planned trajectories in automated driving. It fuses spatial risk fields, temporal actor context, and visual bird’s‑eye‑view features, using flow‑guided evolution to transport occupancy and signed residuals to correct it. In open‑loop planning on nuScenes, RiskWorld achieves the lowest collision rate over a 3‑second horizon and the second‑best average L2 error, running at 11.5 FPS on a single NVIDIA RTX 4090.
arXiv:2606. 29879v1 Announce Type: cross Abstract: Vision-Language Models (VLMs) provide powerful semantic understanding and commonsense reasoning for End-to-End Autonomous Driving (E2E-AD) planning.
LiAM‑SAM is a lifecycle‑aware memory framework designed to improve segmentation‑based multi‑object tracking (MOT) with the SAM2 foundation video model. It addresses three common failure modes—faulty track initiation, memory drift during close interactions, and unreliable re‑identification after occlusion—by introducing contrastive track initiation, motion‑ and geometry‑grounded memory correction, and adaptive context memory. The system achieves state‑of‑the‑art HOTA and IDF1 scores, with ablations showing significant gains in association metrics and a 96% reduction in identity switches.
arXiv:2608.31029v1 Announce Type: cross Abstract: End-to-end autonomous driving models plan future trajectories from raw sensor input. While earlier driving benchmarks often measured deviation from t...