HMAD: Advancing E2E Driving with Anchored Offset Proposals and Simulation-Supervised Multi-target Scoring

End-to-end autonomous driving faces persistent challenges in both generating diverse, rule-compliant trajectories and robustly selecting the optimal path from these options via learned, multi-faceted evaluation. To address these challenges, we introduce HMAD, a framework integrating a distinctive Bird's-Eye-View (BEV) based trajectory proposal mechanism with learned multi-criteria scoring. HMAD leverages BEVFormer and employs learnable anchored queries, initialized from a trajectory dictionary and refined via iterative offset decoding (inspired by DiffusionDrive), to produce numerous diverse and stable candidate trajectories. A key innovation, our simulation-supervised scorer module, then evaluates these proposals against critical metrics including no at-fault collisions, drivable area compliance, comfortableness, and overall driving quality (i.e., extended PDM score). Demonstrating its efficacy, HMAD achieves a 44.5% driving score on the CVPR 2025 private test set. This work highlights the benefits of effectively decoupling robust trajectory generation from comprehensive, safety-aware learned scoring for advanced autonomous driving.

Rejoining fragmented ancient bamboo slips with physics-driven deep learning

Bamboo slips are a crucial medium for recording ancient civilizations in East Asia, and offers invaluable archaeological insights for reconstructing the Silk Road, studying material culture exchanges, and global history. However, many excavated bamboo slips have been fragmented into thousands of irregular pieces, making their rejoining a vital yet challenging step for understanding their content. Here we introduce WisePanda, a physics-driven deep learning framework designed to rejoin fragmented bamboo slips. Based on the physics of fracture and material deterioration, WisePanda automatically generates synthetic training data that captures the physical properties of bamboo fragmentations. This approach enables the training of a matching network without requiring manually paired samples, providing ranked suggestions to facilitate the rejoining process. Compared to the leading curve matching method, WisePanda increases Top-50 matching accuracy from 36\% to 52\%. Archaeologists using WisePanda have experienced substantial efficiency improvements (approximately 20 times faster) when rejoining fragmented bamboo slips. This research demonstrates that incorporating physical principles into deep learning models can significantly enhance their performance, transforming how archaeologists restore and study fragmented artifacts. WisePanda provides a new paradigm for addressing data scarcity in ancient artifact restoration through physics-driven machine learning.