SM Yiu | Searcharxiv

arXiv2026

Driving Like Yourself: A Benchmark for Closed-Loop Personalized End-to-End Autonomous Driving

Human driving behavior is inherently diverse, yet most end-to-end autonomous driving (E2E-AD) systems learn a single average driving style, neglecting individual differences. Achieving personalized E2E-AD faces challenges across three levels: limited real-world datasets with individual-level annotations, a lack of quantitative metrics for evaluating personal driving styles, and the absence of algorithms that can learn stylized representations from users' trajectories. To address these gaps, we propose Person2Drive, a comprehensive personalized E2E-AD platform and benchmark. It includes an open-source, flexible data collection system that simulates realistic scenarios to generate scalable, diverse personalized driving datasets; style vector-based evaluation metrics with Maximum Mean Discrepancy and KL divergence to comprehensively quantify individual driving behaviors; and a personalized E2E-AD framework with a style reward model that efficiently adapts E2E models for safe and individualized driving. Crucially, our framework enables plug-and-play personalization by fine-tuning only the trajectory prediction head, preserving the pretrained base model and ensuring safety. Extensive experiments demonstrate that Person2Drive enables fine-grained analysis and effective personalization, while preserving driving performance and success rate even in challenging scenarios.

cs.CV↗

arXiv2022

Metric-guided Distillation: Distilling Knowledge from the Metric to Ranker and Retriever for Generative Commonsense Reasoning

Commonsense generation aims to generate a realistic sentence describing a daily scene under the given concepts, which is very challenging, since it requires models to have relational reasoning and compositional generalization capabilities. Previous work focuses on retrieving prototype sentences for the provided concepts to assist generation. They first use a sparse retriever to retrieve candidate sentences, then re-rank the candidates with a ranker. However, the candidates returned by their ranker may not be the most relevant sentences, since the ranker treats all candidates equally without considering their relevance to the reference sentences of the given concepts. Another problem is that re-ranking is very expensive, but only using retrievers will seriously degrade the performance of their generation models. To solve these problems, we propose the metric distillation rule to distill knowledge from the metric (e.g., BLEU) to the ranker. We further transfer the critical knowledge summarized by the distilled ranker to the retriever. In this way, the relevance scores of candidate sentences predicted by the ranker and retriever will be more consistent with their quality measured by the metric. Experimental results on the CommonGen benchmark verify the effectiveness of our proposed method: (1) Our generation model with the distilled ranker achieves a new state-of-the-art result. (2) Our generation model with the distilled retriever even surpasses the previous SOTA.

cs.CL↗