FeasibleFlow: 構成空間の実現可能性と軌道を一段階で同時輸送するエンドツーエンド運転
FeasibleFlow: One-Step Joint Transport of Configuration Feasibility and Trajectories for End-to-End Driving
エンドツーエンド自動運転において、構成空間の実現可能性場とマルチモーダルな自車軌道を一段階の生成フレームワークで同時に輸送する手法を提案し、安全性と進捗のバランスを取るランカーと強化学習を導入してNAVSIMで有効性を示した。
著者: Xiang Li, Bikun Wang, Qing Xu, Jianjun Wang
分類: cs.RO
原文アブストラクト
End-to-end autonomous driving maps current observations directly to future trajectories, yet those trajectories must remain valid as the scene evolves. Future state modeling aims to address this temporal mismatch, but general representations often contain information unrelated to ego planning and affect trajectory generation only through auxiliary supervision, static conditioning, or proposal evaluation. We propose FeasibleFlow, a one-step end-to-end generative framework that jointly transports a configuration-space feasibility field and multimodal ego trajectories. Our Asymmetric Joint MeanFlow uses the pathwise Jacobian-vector product in the MeanFlow identity to incorporate field evolution into trajectory transport. Because safety feedback is sparser than progress feedback, we further introduce the Anchor-relative ranker (ARR) and Pareto-ReinFlow to balance safety and progress in candidate selection and generation, respectively. Experiments on the NAVSIM benchmark demonstrate the strong performance of FeasibleFlow and validate both the joint transport of feasibility and trajectories and the proposed safety-first mechanisms.