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simmediumimitationmetric · varies
CarPLAN: Context-Adaptive and Robust Planning with Dynamic Scene Awareness for Autonomous Driving
Description
Imitation learning (IL) is widely used for motion planning in autonomous driving due to its data efficiency and access to real-world driving data. For safe and robust real-world driving, IL-based planning requires capturing the complex driving contexts inherent in real-world data and enabling context-adaptive decision-making, rather than relying solely on expert trajectory imitation. In this paper, we propose CarPLAN, a novel IL-based motion planning framework that explicitly enhances driving co