Paper

CLEAR: Cognition and Latent Evaluation for Adaptive Routing in End-to-End Autonomous Driving

arXiv:2606.06219v1 Announce Type: new Abstract: End-to-end autonomous driving models often struggle to balance multi-modal maneuver generation with real-time inference constraints. While diffusion models successfully capture diverse driving behaviors, their iterative denoising process incurs unacceptable latency for safety-critical deployment. To address this, we propose CLEAR (Cognition and Latent Evaluation for Adaptive Routing), a framework that combines ultra-fast generative planning with deep semantic reasoning. CLEAR employs Drive-JEPA as the visual encoder and replaces the multi-step d…

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