Perception in Plan: Coupled Perception and Planning for End-to-End Autonomous Driving

Bozhou Zhang; Jingyu Li; Nan Song; Li Zhang

AAAI 2026technical0 citations

Perception in Plan: Coupled Perception and Planning for End-to-End Autonomous Driving

Bozhou Zhang, Jingyu Li, Nan Song, Li Zhang

Abstract

End-to-end autonomous driving has achieved remarkable advancements in recent years. Existing methods primarily follow a perception–planning paradigm, where perception and planning are executed sequentially within a fully differentiable framework for planning-oriented optimization. We further advance this paradigm through a "perception-in-plan

BibTeX

@inproceedings{aaai2026_perceptioninplan,
  title = {Perception in Plan: Coupled Perception and Planning for End-to-End Autonomous Driving},
  author = {Bozhou Zhang and Jingyu Li and Nan Song and Li Zhang},
  booktitle = {AAAI 2026},
  year = {2026}
}