{"id":"https://openalex.org/W7138237357","doi":"https://doi.org/10.1609/aaai.v40i11.37901","title":"Decoupling Scene Perception and Ego Status: A Multi-Context Fusion Approach for Enhanced Generalization in End-to-End Autonomous Driving","display_name":"Decoupling Scene Perception and Ego Status: A Multi-Context Fusion Approach for Enhanced Generalization in End-to-End Autonomous Driving","publication_year":2026,"publication_date":"2026-03-14","ids":{"openalex":"https://openalex.org/W7138237357","doi":"https://doi.org/10.1609/aaai.v40i11.37901"},"language":null,"primary_location":{"id":"doi:10.1609/aaai.v40i11.37901","is_oa":true,"landing_page_url":"https://doi.org/10.1609/aaai.v40i11.37901","pdf_url":"https://ojs.aaai.org/index.php/AAAI/article/download/37901/41863","source":{"id":"https://openalex.org/S4210191458","display_name":"Proceedings of the AAAI Conference on Artificial Intelligence","issn_l":"2159-5399","issn":["2159-5399","2374-3468"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/P4310320058","host_organization_name":"Association for the Advancement of Artificial Intelligence","host_organization_lineage":["https://openalex.org/P4310320058"],"host_organization_lineage_names":["Association for the Advancement of Artificial Intelligence"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the AAAI Conference on Artificial Intelligence","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"diamond","oa_url":"https://ojs.aaai.org/index.php/AAAI/article/download/37901/41863","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101860586","display_name":"Jiacheng Tang","orcid":null},"institutions":[{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jiacheng Tang","raw_affiliation_strings":["Fudan University"],"affiliations":[{"raw_affiliation_string":"Fudan University","institution_ids":["https://openalex.org/I24943067"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129731236","display_name":"Mingyue Feng","orcid":null},"institutions":[{"id":"https://openalex.org/I4210163926","display_name":"Zhejiang Medicine (China)","ror":"https://ror.org/05h86nk22","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210163926"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingyue Feng","raw_affiliation_strings":["Zhejiang Leapmotor Technology Co., Ltd"],"affiliations":[{"raw_affiliation_string":"Zhejiang Leapmotor Technology Co., Ltd","institution_ids":["https://openalex.org/I4210163926"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129691033","display_name":"Jiachao Liu","orcid":null},"institutions":[{"id":"https://openalex.org/I4210163926","display_name":"Zhejiang Medicine (China)","ror":"https://ror.org/05h86nk22","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210163926"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiachao Liu","raw_affiliation_strings":["Zhejiang Leapmotor Technology Co., Ltd"],"affiliations":[{"raw_affiliation_string":"Zhejiang Leapmotor Technology Co., Ltd","institution_ids":["https://openalex.org/I4210163926"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129704855","display_name":"Yaonong Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I4210163926","display_name":"Zhejiang Medicine (China)","ror":"https://ror.org/05h86nk22","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210163926"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yaonong Wang","raw_affiliation_strings":["Zhejiang Leapmotor Technology Co., Ltd"],"affiliations":[{"raw_affiliation_string":"Zhejiang Leapmotor Technology Co., Ltd","institution_ids":["https://openalex.org/I4210163926"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5129732017","display_name":"Jian Pu","orcid":null},"institutions":[{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jian Pu","raw_affiliation_strings":["Fudan University"],"affiliations":[{"raw_affiliation_string":"Fudan University","institution_ids":["https://openalex.org/I24943067"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5101860586"],"corresponding_institution_ids":["https://openalex.org/I24943067"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.52727273,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"40","issue":"11","first_page":"9413","last_page":"9420"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.7461000084877014,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.7461000084877014,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.08209999650716782,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.06689999997615814,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/fusion-mechanism","display_name":"Fusion mechanism","score":0.5522000193595886},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.5389000177383423},{"id":"https://openalex.org/keywords/id-ego-and-super-ego","display_name":"Id, ego and super-ego","score":0.5254999995231628},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.5149000287055969},{"id":"https://openalex.org/keywords/decoupling","display_name":"Decoupling (probability)","score":0.4674000144004822},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.4442000091075897},{"id":"https://openalex.org/keywords/encoder","display_name":"Encoder","score":0.41679999232292175}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6622999906539917},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6029999852180481},{"id":"https://openalex.org/C173414695","wikidata":"https://www.wikidata.org/wiki/Q5510276","display_name":"Fusion mechanism","level":4,"score":0.5522000193595886},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.5389000177383423},{"id":"https://openalex.org/C9180747","wikidata":"https://www.wikidata.org/wiki/Q486893","display_name":"Id, ego and super-ego","level":2,"score":0.5254999995231628},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.5149000287055969},{"id":"https://openalex.org/C205606062","wikidata":"https://www.wikidata.org/wiki/Q5249645","display_name":"Decoupling (probability)","level":2,"score":0.4674000144004822},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.4442000091075897},{"id":"https://openalex.org/C118505674","wikidata":"https://www.wikidata.org/wiki/Q42586063","display_name":"Encoder","level":2,"score":0.41679999232292175},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.383899986743927},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.34369999170303345},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.3418999910354614},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3418999910354614},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.3009999990463257},{"id":"https://openalex.org/C86532276","wikidata":"https://www.wikidata.org/wiki/Q1184065","display_name":"Delegation","level":2,"score":0.28540000319480896},{"id":"https://openalex.org/C145804949","wikidata":"https://www.wikidata.org/wiki/Q478123","display_name":"Situation awareness","level":2,"score":0.28380000591278076},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.27230000495910645},{"id":"https://openalex.org/C2776010242","wikidata":"https://www.wikidata.org/wiki/Q4677575","display_name":"Active perception","level":3,"score":0.26030001044273376},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.25270000100135803}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1609/aaai.v40i11.37901","is_oa":true,"landing_page_url":"https://doi.org/10.1609/aaai.v40i11.37901","pdf_url":"https://ojs.aaai.org/index.php/AAAI/article/download/37901/41863","source":{"id":"https://openalex.org/S4210191458","display_name":"Proceedings of the AAAI Conference on Artificial Intelligence","issn_l":"2159-5399","issn":["2159-5399","2374-3468"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/P4310320058","host_organization_name":"Association for the Advancement of Artificial Intelligence","host_organization_lineage":["https://openalex.org/P4310320058"],"host_organization_lineage_names":["Association for the Advancement of Artificial Intelligence"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the AAAI Conference on Artificial Intelligence","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1609/aaai.v40i11.37901","is_oa":true,"landing_page_url":"https://doi.org/10.1609/aaai.v40i11.37901","pdf_url":"https://ojs.aaai.org/index.php/AAAI/article/download/37901/41863","source":{"id":"https://openalex.org/S4210191458","display_name":"Proceedings of the AAAI Conference on Artificial Intelligence","issn_l":"2159-5399","issn":["2159-5399","2374-3468"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/P4310320058","host_organization_name":"Association for the Advancement of Artificial Intelligence","host_organization_lineage":["https://openalex.org/P4310320058"],"host_organization_lineage_names":["Association for the Advancement of Artificial Intelligence"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the AAAI Conference on Artificial Intelligence","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.6982936859130859,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W7138237357.pdf","grobid_xml":"https://content.openalex.org/works/W7138237357.grobid-xml"},"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Modular":[0],"design":[1,36],"of":[2,55],"planning-oriented":[3],"autonomous":[4],"driving":[5],"has":[6],"markedly":[7],"advanced":[8],"end-to-end":[9],"systems.":[10],"However,":[11],"existing":[12],"architectures":[13,39],"remain":[14],"constrained":[15],"by":[16],"an":[17,34,64,84],"over-reliance":[18,208],"on":[19,88,113,134,191,209],"ego":[20,42,56,105,118,210],"status,":[21],"hindering":[22],"generalization":[23,215],"and":[24,104,176,185,212],"robust":[25],"scene":[26,102],"understanding.":[27],"We":[28],"identify":[29],"the":[30,52,59,73,123,127,135,145,149,154,192,207],"root":[31],"cause":[32],"as":[33,48],"inherent":[35],"within":[37],"these":[38],"that":[40,99,196],"allows":[41,63],"status":[43,57,119,211],"to":[44,71,152],"be":[45],"easily":[46],"leveraged":[47],"a":[49,89,96,169],"shortcut.":[50],"Specifically,":[51],"premature":[53],"fusion":[54,91,140],"in":[58],"upstream":[60],"BEV":[61,124,182],"encoder":[62],"information":[65],"flow":[66],"from":[67,122,148],"this":[68,79,160],"strong":[69],"prior":[70],"dominate":[72],"downstream":[74],"planning":[75,136,156,201],"module.":[76],"To":[77,158],"address":[78],"challenge,":[80],"we":[81,167],"propose":[82],"AdaptiveAD,":[83],"architectural-level":[85],"solution":[86],"based":[87,112,132],"multi-context":[90],"strategy.":[92],"Its":[93],"core":[94],"is":[95],"dual-branch":[97],"structure":[98],"explicitly":[100],"decouples":[101],"perception":[103],"status.":[106],"One":[107],"branch":[108],"performs":[109],"scene-driven":[110],"reasoning":[111,131],"multi-task":[114,165],"learning,":[115,166],"but":[116],"with":[117],"deliberately":[120],"omitted":[121],"encoder,":[125],"while":[126],"other":[128],"conducts":[129],"ego-driven":[130],"solely":[133],"task.":[137],"A":[138],"scene-aware":[139],"module":[141],"then":[142],"adaptively":[143],"integrates":[144],"complementary":[146],"decisions":[147],"two":[150,178],"branches":[151],"form":[153],"final":[155],"trajectory.":[157],"ensure":[159],"decoupling":[161],"does":[162],"not":[163],"compromise":[164],"introduce":[168],"path":[170],"attention":[171],"mechanism":[172],"for":[173],"ego-BEV":[174],"interaction":[175],"add":[177],"targeted":[179],"auxiliary":[180],"tasks:":[181],"unidirectional":[183],"distillation":[184],"autoregressive":[186],"online":[187],"mapping.":[188],"Extensive":[189],"evaluations":[190],"nuScenes":[193],"dataset":[194],"demonstrate":[195],"AdaptiveAD":[197],"achieves":[198],"state-of-the-art":[199],"open-loop":[200],"performance.":[202],"Crucially,":[203],"it":[204],"significantly":[205],"mitigates":[206],"exhibits":[213],"impressive":[214],"capabilities":[216],"across":[217],"diverse":[218],"scenarios.":[219]},"counts_by_year":[],"updated_date":"2026-03-20T20:47:17.329874","created_date":"2026-03-18T00:00:00"}
