A simulation-to-real pipeline (HASS synthetic hard cases, scenario-aware prompts, and an image-to-ego geometry encoder) improves an MLLM's open-loop planning on nuScenes, especially in hard scenarios.
Is ego status all you need for open-loop end-to-end au- tonomous driving?
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RoboTron-Sim: Improving Real-World Driving via Simulated Hard-Case
A simulation-to-real pipeline (HASS synthetic hard cases, scenario-aware prompts, and an image-to-ego geometry encoder) improves an MLLM's open-loop planning on nuScenes, especially in hard scenarios.