LEARNING
CLEAR：面向端到端自动驾驶的自适应路由的认知与潜在评估
Yining Xing, Zehong Ke, Zhiyuan Liu, Yanbo Jiang, Wenhao Yu, Jianqiang Wang
- 发表年份
- 2026
- 访问权限
- 开放获取
摘要
CLEAR框架通过单步条件漂移替代多步去噪链，结合Drive-JEPA视觉编码器和Qwen语言模型，实现了高速、多模态的驾驶规划。在NAVSIM v1基准上达到93.7的PDMS，证明了高保真多模态规划在实时推理中的可行性。
关键词
end-to-end autonomous drivingdiffusion modelsVAE latent spaceadaptive routingmulti-modal planning
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