Modular design of planning-oriented autonomous driving has markedly advanced end-to-end systems. However, existing architectures remain constrained by an over-reliance on ego status, hindering generalization and robust scene understanding. We identify the root cause as an inherent design within these architectures that allows ego status to be easily leveraged as a shortcut. Specifically, the premature fusion of ego status in the upstream BEV encoder allows an information flow from this strong prior to dominate the downstream planning module. To address this challenge, we propose AdaptiveAD, an architectural-level solution based on a multi-context fusion strategy. Its core is a dual-branch structure that explicitly decouples scene perception and ego status. One branch performs scene-driven reasoning based on multi-task learning, but with ego status deliberately omitted from the BEV encoder, while the other conducts ego-driven reasoning based solely on the planning task. A scene-aware fusion module then adaptively integrates the complementary decisions from the two branches to form the final planning trajectory. To ensure this decoupling does not compromise multi-task learning, we introduce a path attention mechanism for ego-BEV interaction and add two targeted auxiliary tasks: BEV unidirectional distillation and autoregressive online mapping. Extensive evaluations on the nuScenes dataset demonstrate that AdaptiveAD achieves state-of-the-art open-loop planning performance. Crucially, it significantly mitigates the over-reliance on ego status and exhibits impressive generalization capabilities across diverse scenarios.

The utilization of vector-based deep learning techniques has great prospects in the realm of autonomous driving, particularly in the domains of prediction and planning tasks. However, the application of vector-based backbones for prediction and planning tasks may lead to the occurrence of causal confusion. Previous studies have explored the phenomenon of causal confusion, with a specific emphasis on the context of visual imitation learning. As for the vector-based model, we observe that the states of surrounding vehicles can be a nuisance shortcut. In our work, an off-policy approach is proposed to alleviate the issue by incorporating de-confounding supervision. Additionally, to better capture the environmental cues, such as route and traffic lights, in vectorized representation, a decoder utilizing iterative route fusion is devised. By incorporating auxiliary supervision and employing a dedicated decoder, we demonstrate the effectiveness of our methods in reducing causal confusion and improving performance in planning tasks through reactive and nonreactive closed-loop simulations on the nuPlan dataset.

With the prosperous development of Convolutional Neural Networks, currently they can perform excellently on visual understanding tasks when the input images are high quality and common quality images. However, large degradation in performance always occur when the input images are low quality images. In this paper, we propose a new super-resolution method in order to improve the classification performance for low-resolution images. In an image, the regions in which pixel values vary dramatically contain more abundant high frequency contents compared to other parts. Based on this fact, we design a weight map and integrate it with a super-resolution CNN training framework. During the process of training, this weight map can find out positions of the high frequency pixels in ground truth high-resolution images. After that, the pixel-level loss function takes effect only at these found positions to minimize the difference between reconstructed high-resolution images and ground truth high-resolution images. Compared with other state-of-the-art super-resolution methods, the experiment results show that our method can recover more high frequency contents in high-resolution image reconstructing, and better improve the classification accuracy after low-resolution image preprocessing.

Existing enhancement methods are empirically expected to help the high-level end computer vision task: however, that is observed to not always be the case in practice. We focus on object or face detection in poor visibility enhancements caused by bad weathers (haze, rain) and low light conditions. To provide a more thorough examination and fair comparison, we introduce three benchmark sets collected in real-world hazy, rainy, and low-light conditions, respectively, with annotated objects/faces. We launched the UG2+ challenge Track 2 competition in IEEE CVPR 2019, aiming to evoke a comprehensive discussion and exploration about whether and how low-level vision techniques can benefit the high-level automatic visual recognition in various scenarios. To our best knowledge, this is the first and currently largest effort of its kind. Baseline results by cascading existing enhancement and detection models are reported, indicating the highly challenging nature of our new data as well as the large room for further technical innovations. Thanks to a large participation from the research community, we are able to analyze representative team solutions, striving to better identify the strengths and limitations of existing mindsets as well as the future directions.