NTR

NTR: Neural Token Reconstruction for Scene Token Bottleneck in End-to-End Driving

Announce Type: new Abstract: Recent perception-free end-to-end (E2E) autonomous driving methods bypass explicit perception outputs by compressing dense image patch tokens into compact scene tokens for downstream trajectory generation and scoring. While these scene tokens form a compact visual bottleneck for the planner, they receive supervision solely from the planning objective, providing limited constraints on the encoded visual information.