An autoregressive mixture-of-experts planner for end-to-end driving achieves 87.0 PDMS and 83.1 EPDMS on NAVSIM, with ablations supporting each component.
Planning-oriented autonomous driving,
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ARTEMIS: Autoregressive End-to-End Trajectory Planning with Mixture of Experts for Autonomous Driving
An autoregressive mixture-of-experts planner for end-to-end driving achieves 87.0 PDMS and 83.1 EPDMS on NAVSIM, with ablations supporting each component.