Collaborative perception extends the sensing range of autonomous vehicles, but its performance degrades when shared features arrive stale or incomplete. Most latency-robust methods compensate delayed collaborator features through flow-guided alignment or direct feature transport. In this work, we formulate asynchronous …
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 …
Collaborative perception improves autonomous perception by sharing intermediate Bird's-Eye-View (BEV) features across connected agents, but dense feature exchange is difficult to deploy under strict Vehicle-to-Everything (V2X) bandwidth limits. Existing efficient methods typically either compress the full feature map u …
Safety-critical driving scenario generation has largely focused on manipulating the behavior of surrounding agents while starting from an initial scene from driving data. This assumption can limit the space of discoverable failures, since driving data can provide little opportunity for meaningful interaction. For examp …