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Hai Yang

Publications and source records attributed to Hai Yang.

At least 19 recordsLinked to original sources
arXiv2026

Plug-and-Play Traffic Element Awareness for End-to-End Autonomous Driving

Traffic elements such as traffic lights and road signs play a fundamental role in human driving decisions and should naturally influence end-to-end driving performance. However, existing end-to-end driving research predominantly focuses on dynamic road participants (e.g., vehicles and pedestrians), while the role of traffic elements remains largely unexplored. The community still lacks a systematic study quantifying their impact, largely because public datasets rarely provide structured traffic-element annotations and modern driving systems vary widely in architecture and training paradigm. In this work, we present the first systematic investigation of traffic element awareness for end-to-end autonomous driving. We construct a unified research infrastructure by augmenting multiple public driving datasets with comprehensive traffic-element annotations. To support diverse model families, we adopt a minimal and universal integration design that incorporates traffic-element signals into existing pipelines in a plug-and-play manner with negligible architectural modification. We evaluate this design across modern paradigms, including perception-prediction-planning pipelines, vision-language-action models (VLA), regression-based planners, diffusion-based policies, and trajectory-scoring frameworks, on nuScenes, NAVSIM-v1, NAVSIM-v2, and Bench2Drive. Across all paradigms and datasets, this simple integration consistently improves driving performance, demonstrating that traffic element awareness provides a robust and generalizable signal for end-to-end driving systems. Notably, on the challenging NAVSIM-v2 benchmark, our approach significantly improves state-of-the-art architectures and data pipelines, establishing a new state of the art.

cs.CV↗
arXiv2026

Three-sided mobility-energy market design as a multiperiod stochastic assignment game

As mobility service providers (MSPs) and energy providers (EPs) expand electric vehicle ecosystems, models are needed to understand their interactions within a three-sided market. Existing frameworks often overlook the temporal interdependencies between mobility and charging demands. We address this gap by proposing a bilevel problem as an assignment game overseen by a market regulator. The upper level optimizes service pricing to maximize platform profitability. The lower level models a multi-stakeholder equilibrium using a scalable, link-based Perturbed Utility Route Choice (PURC) framework. The evaluation time frame is divided into discrete intervals, capturing the temporal lag between mobility and charging demand via an empirical affine function. We solve the model by chronologically decomposing the lower level into interacting mobility service and recharge subnetworks. Numerical experiments on the expanded Nguyen-Dupuis network reveal several key insights. First, a critical charging capacity threshold exists; operating below it forces a severe reduction in the deployable fleet and creates localized transit deserts. Second, modeling endogenous operating costs reveals a concave profit trajectory, demonstrating that total profit maximizes at a specific fleet size just before market saturation. Third, optimal dynamic pricing operates within a narrow range, where peak pricing acts as a steady revenue driver and off-peak pricing serves as a highly sensitive operational buffer. These findings provide actionable strategies for coordinating fleet sizing and charging infrastructure deployment.

cs.GT↗
arXiv2026

U3DWind: A Low Altitude Wind Field Dataset and Benchmark for Urban Air Mobility

Urban Air Mobility (UAM) requires reliable assessment of low-altitude wind hazards, because winds, gusts, and building-induced turbulence have been recognized as critical factors affecting vehicle stability, route feasibility, vertiport siting, and airspace management. While wind-tunnel experiments, computational fluid dynamics (CFD), multiscale downscaling, reduced-order models, and UAV planning datasets have advanced wind-aware analysis, public resources for data-driven, city-scale UAM planning remain limited in geographic coverage, scenario diversity, vertical extent, building realism, and task-oriented benchmarking. To address this gap, we introduce U3DWind, a building-resolved low-altitude wind-field dataset generated using our GPU-accelerated Lattice Boltzmann Method--Large-Eddy Simulation (LBM-LES) framework for rapid urban flow simulation. U3DWind covers five megacities in China: Beijing, Shanghai, Guangzhou, Shenzhen, and Hong Kong. It contains 720 simulations, with 16 inflow directions, three reference wind speeds, and three seasonal atmospheric scenarios (annual, summer, and winter) for each city. At a 10 m grid resolution, the dataset provides three-dimensional three-component (3D3C) velocity, turbulent kinetic energy (TKE), flow density, and fluid--solid masks. To support operationally relevant evaluation, we further define five baseline tasks: wind-field prediction, sparse-sensor wind-field reconstruction, site wind-exposure ranking, airworthiness wind-compliance risk scoring, and noise propagation modeling. As a multi-city, building-resolved 3D urban wind-field dataset, U3DWind enables systematic evaluation of wind-induced impacts in low-altitude traffic scenarios and provides an open benchmark for urban airspace management and data-driven high-fidelity urban flow simulation.

physics.flu-dyn↗
arXiv2026

Distance-based subsidy rate design to incentivize ride-hail access to advanced air mobility hubs

The success of advanced air mobility (AAM) operations is largely contingent on its effective integration with other ground transport modes. Under many use cases, AAM operators have to work with ride-hailing operators to create a seamless air taxi travel experience with adequate first and last-mile access. In investigating this multimodal coalition, this study proposes a distance-based subsidy rate design for AAM operators to incentivize ride-hail access to AAM hubs, incorporating air mobility operators' profitability considerations and travelers' route choices jointly. Using New York City (NYC) airport access as a case study, this study integrates high-volume for-hire vehicle (HVFHV) data from NYC taxi zones to consider real-world spatial demand distributions while considering passenger groups with different values of time (VOT) to derive insights on distinctive customer bases. Overall, the results show that AAM operators would need to subsidize the ride-hailing operators on vertiport access trips when air taxi operating costs exceed $12/mi. The analysis of ridership at AAM hubs indicates that ridership and profit contributions differ across different candidate vertiports in Manhattan, reflecting spatial demand heterogeneity. Additionally, having the airport access system in place, the taxi zones that generate the highest passenger demand to all three major NYC airports are identified under lower air taxi fare scenarios. These findings highlight how a distance-based subsidy rate design is beneficial in facilitating better access to vertiports and to foster high air taxi ridership with optimal AAM fare levels.

cs.CY↗
arXiv2026

A Jet from a Nearly Dormant Black Hole

Most galaxies host supermassive black holes (SMBHs) that remain weakly accreting or dormant for much of their lifetimes. At the lowest accretion rates, these systems may represent the transition between active nuclei and dormant black holes, but whether they can still launch collimated jets remains unclear. The nuclei in our Galaxy (\sgra) and M31 are key examples of this regime, although no clear jet structure has yet been detected in either source. Here we report multi-frequency very long baseline interferometric observations of \Msixty\ (NGC~4649), a nearby elliptical galaxy hosting a nearly dormant SMBH with an Eddington ratio of $\sim10^{-8}$. We detect a compact two-sided jet with an unusually steep synchrotron spectrum, demonstrating that collimated outflows can persist even under nearly dormant accretion conditions. The apparent radio core exhibits an unprecedentedly steep frequency-dependent position shift toward the SMBH, locating the central engine only $\sim57\,\mu$as, corresponding to a projected distance of $\sim10$ Schwarzschild radii, upstream of the 8.37-GHz core. The observed jet morphology and steep core-shift behaviour are reproduced by general relativistic magnetohydrodynamic and radiative-transfer simulations, indicating a magnetically dominated, non-equipartition jet-launching region that departs from the standard conical equipartition picture. These results provide direct observational evidence that jet production can survive near the dormant SMBHs and establish \Msixty\ as a unique laboratory for probing jet formation on event-horizon scales in the lowest-accretion SMBH regime.

astro-ph.HE↗
arXiv2026

Impacts of radiative cooling on the images of a black hole shadow and extended jets in two-temperature GRMHD simulations

The recent 230 GHz observations from the Event Horizon Telescope collaboration have successfully imaged the supermassive black hole shadow of the M87 galaxy. However, the relatively high radiative efficiency observed in the hot accretion flow suggests that radiative cooling is non-negligible and should be considered when calculating the electron temperature. In this study, we compare accretion models without and with radiative cooling across a range of mass accretion rates, $\dot{M}_{\mathrm{BH}} = (1.0 - 10) \times 10^{-6}\,\dot{M}_{\mathrm{Edd}}$, aiming to assess the impact of cooling on the disk structure, electron temperature distribution (eDF), black hole shadow morphology, broadband spectral energy distributions (SEDs), and flux variability. We performed general relativistic radiative transfer (GRRT) calculations on two-temperature, radiative, general relativistic magnetohydrodynamic (GRMHD) simulations, employing different electron heating prescriptions and nonthermal eDFs, analyzing the radiation transfer due to synchrotron emission at 230 GHz with inclination angle of $163^\circ$. These simulations are targeted toward M87$^{*}$. By comparing density profiles, eDFs, GRRT images, SEDs, and time variability between models, we find that the radiative cooling sharply decreases the electron temperature in the dense inner disk around the equatorial plane ($r\lesssim 10\,r_\mathrm{g}$), while slightly reducing jet sheath temperature. Cooling leads to a dimmer disk, more extended and brighter jets, and reduced total flux. For a given accretion rate, cooling reduces the high-frequency flux. Time variability originates primarily from the midplane in both non-cooling and cooling cases and decreases as accretion rates rise. Although currently below the dynamic range of EHT observations, the features identified in this study could be resolved by next-generation arrays such as the ngEHT.

astro-ph.HE↗
arXiv2026

Do Open-Loop Metrics Predict Closed-Loop Driving? A Cross-Benchmark Correlation Study of NAVSIM and Bench2Drive

Open-loop evaluation offers fast, reproducible assessment of autonomous driving planners, but its ability to predict real closed-loop driving performance remains questionable. Prior work has shown that traditional open-loop metrics such as Average Displacement Error (ADE) and Final Displacement Error (FDE) exhibit no reliable correlation with closed-loop Driving Score. In this paper, we ask whether the more recent, safety-aware open-loop metrics introduced by NAVSIM~v2 can bridge this gap. By systematically cross-referencing published results from 15 state-of-the-art methods across NAVSIM (open-loop) and Bench2Drive (closed-loop), we compile a paired dataset of open-loop sub-metrics and closed-loop performance, yielding 8 methods with complete paired data. Our analysis reveals three key findings: (1) the aggregate NAVSIM PDM Score shows a strong positive but non-monotonic correlation with Bench2Drive Driving Score, with clear ranking inversions; (2) among individual NAVSIM sub-metrics, Ego Progress (EP) is the strongest single predictor of closed-loop success, substantially exceeding the safety-critical collision metric NC; (3) the safety-progress trade-off manifests differently in open-loop and closed-loop: methods that maximize safety at the expense of progress rank highly in NAVSIM but underperform in closed-loop due to timeout and slow-driving penalties. We further demonstrate that a much simpler 3-metric formula matches the predictive power of the full 5-metric PDMS at the same Spearman $\rho{=}0.90$ on our paired sample of $n{=}8$ methods, suggesting that within current state-of-the-art methods -- where TTC and Comfort approach saturation -- these two sub-metrics add little marginal information for closed-loop ranking. Additionally, we identify the snowball effect -- where small open-loop deviations compound into closed-loop failures -- as a candidate mechanism for the residual gap.

cs.RO↗
arXiv2026

SAIL: Scene-aware Adaptive Iterative Learning for Long-Tail Trajectory Prediction in Autonomous Vehicles

Autonomous vehicles (AVs) rely on accurate trajectory prediction for safe navigation in diverse traffic environments, yet existing models struggle with long-tail scenarios-rare but safety-critical events characterized by abrupt maneuvers, high collision risks, and complex interactions. These challenges stem from data imbalance, inadequate definitions of long-tail trajectories, and suboptimal learning strategies that prioritize common behaviors over infrequent ones. To address this, we propose SAIL, a novel framework that systematically tackles the long-tail problem by first defining and modeling trajectories across three key attribute dimensions: prediction error, collision risk, and state complexity. Our approach then synergizes an attribute-guided augmentation and feature extraction process with a highly adaptive contrastive learning strategy. This strategy employs a continuous cosine momentum schedule, similarity-weighted hard-negative mining, and a dynamic pseudo-labeling mechanism based on evolving feature clustering. Furthermore, it incorporates a focusing mechanism to intensify learning on hard-positive samples within each identified class. This comprehensive design enables SAIL to excel at identifying and forecasting diverse and challenging long-tail events. Extensive evaluations on the nuScenes and ETH/UCY datasets demonstrate SAIL's superior performance, achieving up to 28.8% reduction in prediction error on the hardest 1% of long-tail samples compared to state-of-the-art baselines, while maintaining competitive accuracy across all scenarios. This framework advances reliable AV trajectory prediction in real-world, mixed-autonomy settings.

cs.ET↗
arXiv2026

Language-Grounded Multi-Agent Planning for Personalized and Fair Participatory Urban Sensing

Participatory urban sensing leverages human mobility for large-scale urban data collection, yet existing methods typically rely on centralized optimization and assume homogeneous participants, resulting in rigid assignments that overlook personal preferences and heterogeneous urban contexts. We propose MAPUS, an LLM-based multi-agent framework for personalized and fair participatory urban sensing. In our framework, participants are modeled as autonomous agents with individual profiles and schedules, while a coordinator agent performs fairness-aware selection and refines sensing routes through language-based negotiation. Experiments on real-world datasets show that MAPUS achieves competitive sensing coverage while substantially improving participant satisfaction and fairness, promoting more human-centric and sustainable urban sensing systems.

cs.AI↗
arXiv2026

Can Large Multimodal Models Inspect Buildings? A Hierarchical Benchmark for Structural Pathology Reasoning

Automated building facade inspection is a critical component of urban resilience and smart city maintenance. Traditionally, this field has relied on specialized discriminative models (e.g., YOLO, Mask R-CNN) that excel at pixel-level localization but are constrained to passive perception and worse generization without the visual understandng to interpret structural topology. Large Multimodal Models (LMMs) promise a paradigm shift toward active reasoning, yet their application in such high-stakes engineering domains lacks rigorous evaluation standards. To bridge this gap, we introduce a human-in-the-loop semi-automated annotation framework, leveraging expert-proposal verification to unify 12 fragmented datasets into a standardized, hierarchical ontology. Building on this foundation, we present \textit{DefectBench}, the first multi-dimensional benchmark designed to interrogate LMMs beyond basic semantic recognition. \textit{DefectBench} evaluates 18 state-of-the-art (SOTA) LMMs across three escalating cognitive dimensions: Semantic Perception, Spatial Localization, and Generative Geometry Segmentation. Extensive experiments reveal that while current LMMs demonstrate exceptional topological awareness and semantic understanding (effectively diagnosing "what" and "how"), they exhibit significant deficiencies in metric localization precision ("where"). Crucially, however, we validate the viability of zero-shot generative segmentation, showing that general-purpose foundation models can rival specialized supervised networks without domain-specific training. This work provides both a rigorous benchmarking standard and a high-quality open-source database, establishing a new baseline for the advancement of autonomous AI agents in civil engineering.

cs.CV↗
arXiv2026

Coordinated Pandemic Control with Large Language Model Agents as Policymaking Assistants

Effective pandemic control requires timely and coordinated policymaking across administrative regions that are intrinsically interdependent. However, human-driven responses are often fragmented and reactive, with policies formulated in isolation and adjusted only after outbreaks escalate, undermining proactive intervention and global pandemic mitigation. To address this challenge, here we propose a large language model (LLM) multi-agent policymaking framework that supports coordinated and proactive pandemic control across regions. Within our framework, each administrative region is assigned an LLM agent as an AI policymaking assistant. The agent reasons over region-specific epidemiological dynamics while communicating with other agents to account for cross-regional interdependencies. By integrating real-world data, a pandemic evolution simulator, and structured inter-agent communication, our framework enables agents to jointly explore counterfactual intervention scenarios and synthesize coordinated policy decisions through a closed-loop simulation process. We validate the proposed framework using state-level COVID-19 data from the United States between April and December 2020, together with real-world mobility records and observed policy interventions. Compared with real-world pandemic outcomes, our approach reduces cumulative infections and deaths by up to 63.7% and 40.1%, respectively, at the individual state level, and by 39.0% and 27.0%, respectively, when aggregated across states. These results demonstrate that LLM multi-agent systems can enable more effective pandemic control with coordinated policymaking...

cs.AI↗
arXiv2025

Think Before You Drive: World Model-Inspired Multimodal Grounding for Autonomous Vehicles

Interpreting natural-language commands to localize target objects is critical for autonomous driving (AD). Existing visual grounding (VG) methods for autonomous vehicles (AVs) typically struggle with ambiguous, context-dependent instructions, as they lack reasoning over 3D spatial relations and anticipated scene evolution. Grounded in the principles of world models, we propose ThinkDeeper, a framework that reasons about future spatial states before making grounding decisions. At its core is a Spatial-Aware World Model (SA-WM) that learns to reason ahead by distilling the current scene into a command-aware latent state and rolling out a sequence of future latent states, providing forward-looking cues for disambiguation. Complementing this, a hypergraph-guided decoder then hierarchically fuses these states with the multimodal input, capturing higher-order spatial dependencies for robust localization. In addition, we present DrivePilot, a multi-source VG dataset in AD, featuring semantic annotations generated by a Retrieval-Augmented Generation (RAG) and Chain-of-Thought (CoT)-prompted LLM pipeline. Extensive evaluations on six benchmarks, ThinkDeeper ranks #1 on the Talk2Car leaderboard and surpasses state-of-the-art baselines on DrivePilot, MoCAD, and RefCOCO/+/g benchmarks. Notably, it shows strong robustness and efficiency in challenging scenes (long-text, multi-agent, ambiguity) and retains superior performance even when trained on 50% of the data.

cs.CV↗
arXiv2025

LILAC: Long-sequence Incremental Low-latency Arbitrary Motion Stylization via Streaming VAE-Diffusion with Causal Decoding

Generating long and stylized human motions in real time is critical for applications that demand continuous and responsive character control. Despite its importance, existing streaming approaches often operate directly in the raw motion space, leading to substantial computational overhead and making it difficult to maintain temporal stability. In contrast, latent-space VAE-Diffusion-based frameworks alleviate these issues and achieve high-quality stylization, but they are generally confined to offline processing. To bridge this gap, LILAC (Long-sequence Incremental Low-latency Arbitrary Motion Stylization via Streaming VAE-Diffusion with Causal Decoding) builds upon a recent high-performing offline framework for arbitrary motion stylization and extends it to an online setting through a latent-space streaming architecture with a sliding-window causal design and the injection of decoded motion features to ensure smooth motion transitions. This architecture enables long-sequence real-time arbitrary stylization without relying on future frames or modifying the diffusion model architecture, achieving a favorable balance between stylization quality and responsiveness as demonstrated by experiments on benchmark datasets. Supplementary video and examples are available at the project page: https://pren1.github.io/lilac/

cs.CV↗
arXiv2025

Bilevel subsidy-enabled mobility hub network design with perturbed utility coalitional choice-based assignment

Urban mobility is undergoing rapid transformation with the emergence of new services. Mobility hubs (MHs) have been proposed as physical-digital convergence points, offering a range of public and private mobility options in close proximity. By supporting Mobility-as-a-Service, these hubs can serve as focal points where travel decisions intersect with operator strategies. We develop a bilevel MH platform design model that treats MHs as control levers. The upper level (platform) maximizes revenue or flow by setting subsidies to incentivize last-mile operators; the lower level captures joint traveler-operator decisions with a link-based Perturbed Utility Route Choice (PURC) assignment, yielding a strictly convex quadratic program. We reformulate the bilevel problem to a single-level program via the KKT conditions of the lower level and solve it with a gap-penalty method and an iterative warm-start scheme that exploits the computationally cheap lower-level problem. Numerical experiments on a toy network and a Long Island Rail Road (LIRR) case (244 nodes, 469 links, 78 ODs) show that the method attains sub-1% optimality gaps in minutes. In the base LIRR case, the model allows policymakers to quantify the social surplus value of a MH, or the value of enabling subsidy or regulating the microtransit operator's pricing. Comparing link-based subsidies to hub-based subsidies, the latter is computationally more expensive but offers an easier mechanism for comparison and control.

math.OC↗
arXiv2025

Deep and diverse population synthesis for multi-person households using generative models with conditional inputs

Traditional methods of population synthesis produce stable and interpretable populations but cannot capture the interrelationships between household- and individual-level attributes. Recent deep learning methods offer this flexibility, yet can overfit high-dimensional attribute relationships without structural guidance and deviate from known structures. We develop a household level synthetic population generation framework that adapts the existing conditional input directed acyclic tabular generative adversarial network, or ciDATGAN, to multi person households. The framework combines household size specific data construction, directed acyclic graphs (DAG) informed dependency regularization, and conditional population inputs as deterministic anchoring to preserve intrahousehold associations. We apply the model to generate an open access synthetic population for New York State. The synthetic population includes nearly 20 million individuals and 7.5 million households in 2021. Validation against withheld benchmarks shows close agreement: joint distribution matching of Public Use Microdata Areas (PUMA), age, race, and disability against the full public use microdata sample (PUMS) yields an R-squared of 0.602 and a Jensen-Shannon distance of 0.280, pairwise Cramer's V differences between generated and benchmark records average below 0.007 at the person level, and classifier two-sample tests on complete household records yield AUC values of 0.527-0.549, close to chance level. The generated households reproduce cross member associations while increasing diversity by 10-17% over the PUMS sample and 13.2% over PopGen alone.

cs.CY↗
arXiv2025

LLM-ODDR: A Large Language Model Framework for Joint Order Dispatching and Driver Repositioning

Ride-hailing platforms face significant challenges in optimizing order dispatching and driver repositioning operations in dynamic urban environments. Traditional approaches based on combinatorial optimization, rule-based heuristics, and reinforcement learning often overlook driver income fairness, interpretability, and adaptability to real-world dynamics. To address these gaps, we propose LLM-ODDR, a novel framework leveraging Large Language Models (LLMs) for joint Order Dispatching and Driver Repositioning (ODDR) in ride-hailing services. LLM-ODDR framework comprises three key components: (1) Multi-objective-guided Order Value Refinement, which evaluates orders by considering multiple objectives to determine their overall value; (2) Fairness-aware Order Dispatching, which balances platform revenue with driver income fairness; and (3) Spatiotemporal Demand-Aware Driver Repositioning, which optimizes idle vehicle placement based on historical patterns and projected supply. We also develop JointDR-GPT, a fine-tuned model optimized for ODDR tasks with domain knowledge. Extensive experiments on real-world datasets from Manhattan taxi operations demonstrate that our framework significantly outperforms traditional methods in terms of effectiveness, adaptability to anomalous conditions, and decision interpretability. To our knowledge, this is the first exploration of LLMs as decision-making agents in ride-hailing ODDR tasks, establishing foundational insights for integrating advanced language models within intelligent transportation systems. While the current framework incurs higher computational costs than traditional methods, we show that parallel decomposition and model distillation can reduce latency to production-viable levels for deployment.

cs.LG↗
arXiv2025

LD-Scene: LLM-Guided Diffusion for Controllable Generation of Adversarial Safety-Critical Driving Scenarios

Ensuring the safety and robustness of autonomous driving systems necessitates a comprehensive evaluation in safety-critical scenarios. However, these safety-critical scenarios are rare and difficult to collect from real-world driving data, posing significant challenges to effectively assessing the performance of autonomous vehicles. Typical existing methods often suffer from limited controllability and lack user-friendliness, as extensive expert knowledge is essentially required. To address these challenges, we propose LD-Scene, a novel framework that integrates Large Language Models (LLMs) with Latent Diffusion Models (LDMs) for user-controllable adversarial scenario generation through natural language. Our approach comprises an LDM that captures realistic driving trajectory distributions and an LLM-based guidance module that translates user queries into adversarial loss functions, facilitating the generation of scenarios aligned with user queries. The guidance module integrates an LLM-based Chain-of-Thought (CoT) code generator and an LLM-based code debugger, enhancing the controllability and robustness in generating guidance functions. Extensive experiments conducted on the nuScenes dataset demonstrate that LD-Scene achieves state-of-the-art performance in generating realistic, diverse, and effective adversarial scenarios. Furthermore, our framework provides fine-grained control over adversarial behaviors, thereby facilitating more effective testing tailored to specific driving scenarios.

cs.AI↗
arXiv2025

Cross-cultural Deployment of Autonomous Vehicles Using Data-light Inverse Reinforcement Learning

More than the adherence to specific traffic regulations, driving culture touches upon a more implicit part - an informal, conventional, collective behavioral pattern followed by drivers - that varies across countries, regions, and even cities. Such cultural divergence has become one of the biggest challenges in deploying autonomous vehicles (AVs) across diverse regions today. The current emergence of data-driven methods has shown a potential solution to enable culture-compatible driving through learning from data, but what if some underdeveloped regions cannot provide sufficient local data to inform driving culture? This issue is particularly significant for a broader global AV market. Here, we propose a cross-cultural deployment scheme for AVs, called data-light inverse reinforcement learning, designed to re-calibrate culture-specific AVs and assimilate them into other cultures. First, we report the divergence in driving cultures through a comprehensive comparative analysis of naturalistic driving datasets on highways from three countries: Germany, China, and the USA. Then, we demonstrate the effectiveness of our scheme by testing the expeditious cross-cultural deployment across these three countries, with cumulative testing mileage of over 56084 km. The performance is particularly advantageous when cross-cultural deployment is carried out without affluent local data. Results show that we can reduce the dependence on local data by a margin of 98.67% at best. This study is expected to bring a broader, fairer AV global market, particularly in those regions that lack enough local data to develop culture-compatible AVs.

cs.LG↗