DSIP: A Dynamic Coordination Planner for Signal-Free Intersections using Diffusion-Model-Based Multi-Agent Motion Planning

Traffic signal control at urban intersections inherently introduces stop-and-go behavior, resulting in increased delays and reduced traffic efficiency, especially under high traffic demand. With the emergence of connected and automated vehicles (CAVs), trajectory-level coordination has emerged as a high-potential strategy to augment or transcend conventional phase-based management. This paper proposes DSIP (Diffusion-model-based Signal-free Intersection Planner), a multi-agent motion planning framework driven by a generative diffusion process. DSIP shifts the intersection management paradigm from discrete temporal phasing to continuous multi-vehicle trajectory optimization. This work evaluates the theoretical upper-bound performance of this coordination strategy under idealized communication and execution conditions to isolate the core benefits of the diffusion-driven approach. Using the SUMO platform, we evaluate DSIP across diverse four-leg intersection configurations. Experimental results demonstrate that DSIP significantly reduces average delay and maintains higher average speed compared to both fixed-time signal control and state-of-the-art reinforcement-learning-based controllers, particularly in medium- to high-density traffic. These findings suggest that diffusion-based trajectory planning provides a scalable and robust foundation for future autonomous intersection management. By unlocking latent intersection capacity through software-defined coordination, this approach offers a cost-effective pathway to improve urban traffic flow efficiency without requiring physical infrastructure expansion.

A Stitch in Time Saves Nine: Preserving Policy Compatibility Under Perception Updates in End-to-End Autonomous Driving

End-to-end autonomous driving systems tightly couple perception and decision-making through latent representations. Consequently, updates to perception models can alter these representations and degrade the performance of downstream policies that remain fixed. Existing solutions typically rely on policy retraining or architectural decoupling, both of which incur substantial computation and validation costs. In this paper, we formulate the model stitching problem for end-to-end autonomous driving and test the hypothesis that policy compatibility can be preserved through lightweight latent-space alignment. We study low-complexity model stitching methods, including linear and convolutional stitchers, for restoring compatibility between updated perception modules and frozen downstream policy modules. Experiments demonstrate that stitching effectively preserves downstream driving behavior under diverse perception updates, including changes in random initialization, sensor configuration, and training domain. In the most challenging cross-domain setting from nuScenes to CARLA, convolutional stitching retains over 91\% of the no-shift driving score while reducing adaptation time from \SI{22.18}{h} to \SI{0.91}{h}. These results suggest that model stitching provides an effective and computationally efficient alternative to retraining or fine-tuning for maintaining end-to-end autonomous driving systems. The model will be open-sourced upon paper acceptance at https://github.com/SCP-CN-001/model-stitching to support further research and development in autonomous driving.

A Pedestrian-Vehicle Interaction Benchmark and Annotation Framework for Unstructured Scenes via Uncalibrated Cameras

Predicting the interaction between pedestrian and vehicle is essential for autonomous driving safety in unstructured and semi-structured scenarios; however, this task is severely hindered by the scarcity of public datasets that feature dense pedestrian-vehicle interactions. Most current studies rely on structured road data, leaving the complex, heterogeneous interactions found in unstructured environments insufficiently represented and researched. In this paper, we propose a dataset annotation framework based on video data from uncalibrated surveillance cameras and present PINNS (Pedestrian-vehicle Interaction dataset from uNcalibrated cameras in uNstructured Scenes). The dataset covers multiple countries and regions, includes diverse typical traffic scenarios, and considers variations in seasons, lighting conditions, and weather. It focuses on complex scenes with dense pedestrian-vehicle interactions and is designed to be easily extensible. The dataset is constructed and annotated according to the standard issued by the Chinese Association of Automation, providing both trajectory data and corresponding scene-level information. Furthermore, this paper analyzes current challenges and research directions in heterogeneous agent trajectory prediction, shows the necessity and usefulness of the proposed dataset. We hope our framework and dataset will facilitate research on trajectory prediction and autonomous driving in complex mixed traffic scenarios. PINNS is publicly available at https://github.com/Songan-Lab.

ASBench: Image Anomalies Synthesis Benchmark for Anomaly Detection

Anomaly detection plays a pivotal role in manufacturing quality control, yet its application is constrained by limited abnormal samples and high manual annotation costs. While anomaly synthesis offers a promising solution, existing studies predominantly treat anomaly synthesis as an auxiliary component within anomaly detection frameworks, lacking systematic evaluation of anomaly synthesis algorithms. Current research also overlook crucial factors specific to anomaly synthesis, such as decoupling its impact from detection, quantitative analysis of synthetic data and adaptability across different scenarios. To address these limitations, we propose ASBench, the first comprehensive benchmarking framework dedicated to evaluating anomaly synthesis methods. Our framework introduces four critical evaluation dimensions: (i) the generalization performance across different datasets and pipelines (ii) the ratio of synthetic to real data (iii) the correlation between intrinsic metrics of synthesis images and anomaly detection performance metrics , and (iv) strategies for hybrid anomaly synthesis methods. Through extensive experiments, ASBench not only reveals limitations in current anomaly synthesis methods but also provides actionable insights for future research directions in anomaly synthesis

ROAD: Responsibility-Oriented Reward Design for Reinforcement Learning in Autonomous Driving

Reinforcement learning (RL) in autonomous driving employs a trial-and-error mechanism, enhancing robustness in unpredictable environments. However, crafting effective reward functions remains challenging, as conventional approaches rely heavily on manual design and demonstrate limited efficacy in complex scenarios. To address this issue, this study introduces a responsibility-oriented reward function that explicitly incorporates traffic regulations into the RL framework. Specifically, we introduced a Traffic Regulation Knowledge Graph and leveraged Vision-Language Models alongside Retrieval-Augmented Generation techniques to automate reward assignment. This integration guides agents to adhere strictly to traffic laws, thus minimizing rule violations and optimizing decision-making performance in diverse driving conditions. Experimental validations demonstrate that the proposed methodology significantly improves the accuracy of assigning accident responsibilities and effectively reduces the agent's liability in traffic incidents.

Learning-based 3D Reconstruction in Autonomous Driving: A Comprehensive Survey

Learning-based 3D reconstruction has emerged as a transformative technique in autonomous driving, enabling precise modeling of both dynamic and static environments through advanced neural representations. Despite augmenting perception, 3D reconstruction inspires pioneering solution for vital tasks in the field of autonomous driving, such as scene understanding and closed-loop simulation. Commencing with an examination of input modalities, we investigates the details of 3D reconstruction and conducts a multi-perspective, in-depth analysis of recent advancements. Specifically, we first provide a systematic introduction of preliminaries, including data formats, benchmarks and technical preliminaries of learning-based 3D reconstruction, facilitating instant identification of suitable methods based on hardware configurations and sensor suites. Then, we systematically review learning-based 3D reconstruction methods in autonomous driving, categorizing approaches by subtasks and conducting multi-dimensional analysis and summary to establish a comprehensive technical reference. The development trends and existing challenges is summarized in the context of learning-based 3D reconstruction in autonomous driving. We hope that our review will inspire future researches.

Leverage Knowledge Graph and Large Language Model for Law Article Recommendation: A Case Study of Chinese Criminal Law

Court efficiency is vital for social stability. However, in most countries around the world, the grassroots courts face case backlogs, with decisions relying heavily on judicial personnel's cognitive labor, lacking intelligent tools to improve efficiency. To address this issue, we propose an efficient law article recommendation approach utilizing a Knowledge Graph (KG) and a Large Language Model (LLM). Firstly, we propose a Case-Enhanced Law Article Knowledge Graph (CLAKG) as a database to store current law statutes, historical case information, and correspondence between law articles and historical cases. Additionally, we introduce an automated CLAKG construction method based on LLM. On this basis, we propose a closed-loop law article recommendation method. Finally, through a series of experiments using judgment documents from the website "China Judgements Online", we have improved the accuracy of law article recommendation in cases from 0.549 to 0.694, demonstrating that our proposed method significantly outperforms baseline approaches.

End-to-end Driving in High-Interaction Traffic Scenarios with Reinforcement Learning

Dynamic and interactive traffic scenarios pose significant challenges for autonomous driving systems. Reinforcement learning (RL) offers a promising approach by enabling the exploration of driving policies beyond the constraints of pre-collected datasets and predefined conditions, particularly in complex environments. However, a critical challenge lies in effectively extracting spatial and temporal features from sequences of high-dimensional, multi-modal observations while minimizing the accumulation of errors over time. Additionally, efficiently guiding large-scale RL models to converge on optimal driving policies without frequent failures during the training process remains tricky. We propose an end-to-end model-based RL algorithm named Ramble to address these issues. Ramble processes multi-view RGB images and LiDAR point clouds into low-dimensional latent features to capture the context of traffic scenarios at each time step. A transformer-based architecture is then employed to model temporal dependencies and predict future states. By learning a dynamics model of the environment, Ramble can foresee upcoming traffic events and make more informed, strategic decisions. Our implementation demonstrates that prior experience in feature extraction and decision-making plays a pivotal role in accelerating the convergence of RL models toward optimal driving policies. Ramble achieves state-of-the-art performance regarding route completion rate and driving score on the CARLA Leaderboard 2.0, showcasing its effectiveness in managing complex and dynamic traffic situations.

CamoTeacher: Dual-Rotation Consistency Learning for Semi-Supervised Camouflaged Object Detection

Existing camouflaged object detection~(COD) methods depend heavily on large-scale pixel-level annotations.However, acquiring such annotations is laborious due to the inherent camouflage characteristics of the objects.Semi-supervised learning offers a promising solution to this challenge.Yet, its application in COD is hindered by significant pseudo-label noise, both pixel-level and instance-level.We introduce CamoTeacher, a novel semi-supervised COD framework, utilizing Dual-Rotation Consistency Learning~(DRCL) to effectively address these noise issues.Specifically, DRCL minimizes pseudo-label noise by leveraging rotation views' consistency in pixel-level and instance-level.First, it employs Pixel-wise Consistency Learning~(PCL) to deal with pixel-level noise by reweighting the different parts within the pseudo-label.Second, Instance-wise Consistency Learning~(ICL) is used to adjust weights for pseudo-labels, which handles instance-level noise.Extensive experiments on four COD benchmark datasets demonstrate that the proposed CamoTeacher not only achieves state-of-the-art compared with semi-supervised learning methods, but also rivals established fully-supervised learning methods.Our code will be available soon.

HOPE: A Reinforcement Learning-based Hybrid Policy Path Planner for Diverse Parking Scenarios

Path planning plays a pivotal role in automated parking, yet current methods struggle to efficiently handle the intricate and diverse parking scenarios. One potential solution is the reinforcement learning-based method, leveraging its exploration in unrecorded situations. However, a key challenge lies in training reinforcement learning methods is the inherent randomness in converging to a feasible policy. This paper introduces a novel solution, the Hybrid POlicy Path plannEr (HOPE), which integrates a reinforcement learning agent with Reeds-Shepp curves, enabling effective planning across diverse scenarios. The paper presents a method to calculate and implement an action mask mechanism in path planning, significantly boosting the efficiency and effectiveness of reinforcement learning training. A transformer is employed as the network structure to fuse environmental information and generate planned paths. To facilitate the training and evaluation of the proposed planner, we propose a criterion for categorizing the difficulty level of parking scenarios based on space and obstacle distribution. Experimental results demonstrate that our approach outperforms typical rule-based algorithms and traditional reinforcement learning methods, showcasing higher planning success rates and generalization across various scenarios. The code for our solution will be openly available on \href{GitHub}{https://github.com/jiamiya/HOPE}. % after the paper's acceptance.