GEMINUS reports state-of-the-art closed-loop driving scores on Bench2Drive with a monocular camera by routing each situation to either a global expert or a scene-specialized expert based on scenario confidence.
Path planning and tracking for vehicle collision avoidance based on model predictive control with multiconstraints,
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GEMINUS: Dual-aware Global and Scene-Adaptive Mixture-of-Experts for End-to-End Autonomous Driving
GEMINUS reports state-of-the-art closed-loop driving scores on Bench2Drive with a monocular camera by routing each situation to either a global expert or a scene-specialized expert based on scenario confidence.