TOAD applies test-time Cross-Entropy Method optimization to refine trajectories using the planner's scorer as a reward function, improving end-to-end autonomous driving performance without retraining.
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Test-Time Trajectory Optimization for Autonomous Driving
TOAD applies test-time Cross-Entropy Method optimization to refine trajectories using the planner's scorer as a reward function, improving end-to-end autonomous driving performance without retraining.