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simmediumimitationmetric · varies
Prioritizing Perception-Guided Self-Supervision: A New Paradigm for Causal Modeling in End-to-End Autonomous Driving
Description
End-to-end autonomous driving systems, predominantly trained through imitation learning, have demonstrated considerable effectiveness in leveraging large-scale expert driving data. Despite their success in open-loop evaluations, these systems often exhibit significant performance degradation in closed-loop scenarios due to causal confusion. This confusion is fundamentally exacerbated by the overreliance of the imitation learning paradigm on expert trajectories, which often contain unattributable