NTR adds a self-distillation masked latent reconstruction objective that uses only scene tokens to reconstruct masked patch features, improving visual representation quality and planning performance in end-to-end autonomous driving.
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NTR: Neural Token Reconstruction for Scene Token Bottleneck in End-to-End Driving
NTR adds a self-distillation masked latent reconstruction objective that uses only scene tokens to reconstruct masked patch features, improving visual representation quality and planning performance in end-to-end autonomous driving.