{"paper":{"title":"Fully Unified Motion Planning for End-to-End Autonomous Driving","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.CV","authors_text":"Bencheng Liao, Caiyan Jia, Hongyu Pan, Lei Yang, Lin Liu, Wenchao Sun, Yandan Luo, Yongchang Zhang, Ziying Song","submitted_at":"2025-04-17T05:52:35Z","abstract_excerpt":"Current end-to-end autonomous driving methods typically learn only from expert planning data collected from a single ego vehicle, severely limiting the diversity of learnable driving policies and scenarios. However, a critical yet overlooked fact is that in any driving scenario, multiple high-quality trajectories from other vehicles coexist with a specific ego vehicle's trajectory. Existing methods fail to fully exploit this valuable resource, missing important opportunities to improve the models' performance (including long-tail scenarios) through learning from other experts. Intuitively, Joi"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2504.12667","kind":"arxiv","version":2},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2504.12667/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}