Zhigui Lin

PrismAD: Decoupled Planning via Semantic Mixture-of-Planners for End-to-End Autonomous Driving

Kang Ding, Zhigui Lin, Hongsong Wang, Jie Gui, Qi Liu, Zhe Wang, et al.

This letter presents PrismAD, a decoupled end-to-end autonomous driving framework based on a Semantic Mixture-of-Planners. Existing planners usually aggregate heterogeneous scene tokens into a coupled representation space, forcing a single planning branch to jointly model agent i…Read more