EnDfuser replaces point-estimate trajectory planning with ensemble diffusion in a single attention-pooling transformer module to model posterior trajectory uncertainty and improve safety in end-to-end autonomous driving.
Prob- abilistic end-to-end vehicle navigation in complex dynamic environments with multimodal sensor fusion.IEEE Robotics and Automation Letters, 5(3):4218–4224
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Using Ensemble Diffusion to Estimate Uncertainty for End-to-End Autonomous Driving
EnDfuser replaces point-estimate trajectory planning with ensemble diffusion in a single attention-pooling transformer module to model posterior trajectory uncertainty and improve safety in end-to-end autonomous driving.