arXiv subjects

Willi Poh

Publications and source records attributed to Willi Poh.

5 recordsLinked to original sources

arXiv2026

Creating Impactful Autonomous Driving Datasets: A Strategic Guide from Research Gap to Benchmark

Well-designed autonomous driving datasets have fundamentally shaped research progress, yet existing literature primarily describes what datasets contain rather than how to strategically design impactful ones. This is especially limiting for small and medium-sized labs and startups that cannot afford to misallocate scarce resources. We argue that impactful dataset creation begins with a diagnosis: whether a research question is blocked by a data problem or an evaluation problem, and proceeds by selecting the minimal data operator(s) that closes the resulting gap, recording new data only when no cheaper operator(s) suffices. We analyze the evolution of major autonomous driving (AD) datasets through this lens and distill a strategic framework spanning gap identification, operator choice, sensor suite design, and annotation strategy. We ground the framework in a running case study of our KITScenes dataset family. The datasets are available at: https://kitscenes.com/

cs.CV↗

arXiv2026

Learning High-Level Decision Making with an Interaction-Aware Attention-Based Network in Autonomous Driving

Reliable learning-based high-level decision making for lane changes and speed control in automated driving must accommodate dynamically sized inputs due to varying scene traffic flow. DeepSet and its variants represent the state of the art among shared-encoder approaches; however, they neglect explicit traffic interaction modeling, limiting performance in negotiation-intensive scenarios such as intersections. Attention-based methods capture interactions among static and dynamic agents, but incur quadratic memory and computational complexity and provide limited control over representation granularity. Inspired by Perceiver IO, an attention-based architecture, DecisionPerceiver, is proposed to project dynamic agent features into a fixed-size latent space, where feature granularity is regulated by the number of latent queries, improving scalability for larger networks. A finer discretization of the action set is further proposed to increase the performance gain due to interaction awareness. Extensive evaluations across three driving scenarios that require different levels of interaction awareness demonstrate consistent performance gains and generalization across various navigation objectives. In addition, the proposed architecture is assessed in scenarios with an increasing number of vehicles to demonstrate scalability.

cs.RO↗

arXiv2026

The Road Ahead in Autonomous Driving: The KITScenes Multimodal Dataset

Existing autonomous driving datasets have enabled major progress, but fall short in sensor fidelity, map completeness, or geographic diversity. We present KITScenes Multimodal, a European dataset built around high-fidelity sensors and maps. Our fully synchronized sensor suite combines high-resolution global-shutter cameras, long-range lidar beyond 400m, 4D imaging radar, and redundant GNSS/INS localization. Our HD maps are, to our knowledge, the most complete of any sensor dataset, validated through autonomous driving trials on open-source software. For the first time in a public dataset, all driving-relevant traffic elements, such as traffic lights, are mapped in 3D to a reprojection-accurate level with full topological connectivity. Recorded in cities with irregular street layouts and mixed traffic modes, our dataset complements existing datasets by broadening the available geographic diversity. We also introduce four benchmarks, each advancing spatial learning for embodied AI: online HD map construction, long-range depth estimation, novel view synthesis, and end-to-end driving. Project page: https://kitscenes.com/

cs.CV↗

arXiv2026

Mosaic: An Extensible Framework for Composing Rule-Based and Learned Motion Planners

Safe and explainable motion planning remains a central challenge in autonomous driving. While rule-based planners offer predictable and explainable behavior, they often fail to grasp the complexity and uncertainty of real-world traffic. Conversely, learned planners exhibit strong adaptability but suffer from reduced transparency and occasional safety violations. We introduce Mosaic, a framework for structured decision-making that integrates both paradigms through arbitration graphs. By decoupling trajectory verification and selection from the generation of trajectories by individual planners, every decision becomes transparent and traceable. This separation lets verification and trajectory selection contribute independently: centralized verification acts as a safety floor, reducing at-fault collisions from 25 for each standalone planner to 16. In contrast, per-step trajectory selection acts as a performance ceiling, combining the complementary strengths of a rule-based and a learned planner. In experimental evaluation on nuPlan, Mosaic achieves 95.56 CLS-NR and 94.18 CLS-R on the Val14 closed-loop benchmark, setting a new state of the art. On the interPlan benchmark, focused on highly interactive and out-of-distribution scenarios, Mosaic scores 54.10 CLS-R, outperforming its best constituent planner by 22.8% -- all without retraining or requiring additional data. The code is available at github.com/KIT-MRT/mosaic.

cs.RO↗

arXiv2025

Human-Aided Trajectory Planning for Automated Vehicles through Teleoperation and Arbitration Graphs

Teleoperation enables remote human support of automated vehicles in scenarios where the automation is not able to find an appropriate solution. Remote assistance concepts, where operators provide discrete inputs to aid specific automation modules like planning, is gaining interest due to its reduced workload on the human remote operator and improved safety. However, these concepts are challenging to implement and maintain due to their deep integration and interaction with the automated driving system. In this paper, we propose a solution to facilitate the implementation of remote assistance concepts that intervene on planning level and extend the operational design domain of the vehicle at runtime. Using arbitration graphs, a modular decision-making framework, we integrate remote assistance into an existing automated driving system without modifying the original software components. Our simulative implementation demonstrates this approach in two use cases, allowing operators to adjust planner constraints and enable trajectory generation beyond nominal operational design domains.

cs.RO↗