arXiv subjects

Zhiyong Cui

Publications and source records attributed to Zhiyong Cui.

At least 19 recordsLinked to original sources

arXiv2026

Planning-Oriented End-to-End Autonomous Driving: Architectures, Evaluation, and Emerging Paradigms

End-to-end autonomous driving has evolved from camera-to-control regression toward planning-oriented systems that use structured representations, trajectory-level outputs, and increasingly realistic evaluation protocols. This survey reviews this transition across behavior cloning, conditional imitation learning, privileged distillation, BEV and vectorized planning, unified perception-prediction-planning architectures, world-model-based planners, and vision-language-action systems. We argue that the key distinction in modern end-to-end driving is not whether intermediate representations are used, but whether they are learned, supervised, and evaluated to support safe, feasible, and route-compliant planning. To organize the literature, we synthesize existing methods along four axes: input representation, planning output, supervision signal, and evaluation protocol. We further examine the benchmark shift from open-loop trajectory matching to closed-loop simulation, non-reactive real-log evaluation, long-tail testing, and human-preference-aware metrics. Our analysis highlights that architectural progress is difficult to interpret without benchmark-consistent evaluation, and that displacement-based open-loop metrics alone provide limited evidence for safe and human-aligned driving. We conclude with open challenges in uncertainty-aware planning, learner-expert mismatch, runtime safety assurance, language-action grounding, world-model validation, and reproducible benchmarking.

cs.RO↗

arXiv2026

OmniTraffic: A Controllable Generation Pipeline and Benchmark for Spatio-Temporal Traffic Reasoning

Traffic scene understanding requires models to reason beyond object recognition, including lane topology, multi-view geometry, temporal evolution, and signal-phase semantics. However, existing traffic-oriented multimodal benchmarks largely emphasize passive visual recognition or isolated video understanding, offering limited support for evaluating structure-aware traffic reasoning under controlled conditions. We introduce OmniTraffic, a controllable generation pipeline and benchmark for spatio-temporal traffic reasoning. Built around 12 real-world intersections reconstructed into editable 3D traffic environments and complemented by surveillance footage from two countries, OmniTraffic supports both controlled and natural-condition evaluation. It defines a three-level task hierarchy spanning scene perception, multi-view and temporal reasoning, and decision support. Using structured traffic metadata, OmniTraffic generates synchronized multi-view VQA samples covering vehicle states, lane functions, view--BEV correspondence, temporal dynamics, and signal-phase analysis, resulting in 8M VQA samples and a 3K human-verified test set. Evaluation of eleven frontier MLLMs reveals a large human--model gap, with the most pronounced failures in topology-grounded and spatio-temporal reasoning tasks. Fine-tuning a lightweight MLLM on simulated OmniTraffic data further improves performance on real-world traffic scenes, demonstrating the value of simulation-generated supervision for traffic-specific multimodal reasoning. Beyond a fixed dataset, OmniTraffic provides an extensible pipeline with configurable intersections, camera views, traffic demands, signal phases, visual conditions, and rare events.

cs.CV↗

arXiv2026

AIR-VLA+: Decoupling Movement and Manipulation via Cascaded Dual-Action Decoders with Asymmetric MoE for Aerial Robots

Aerial manipulation systems have long suffered from representation coupling in end-to-end control, as platform-level Unmanned Aerial Vehicle (UAV) movement and end-effector-level arm manipulation differ substantially in action scale, dynamics, and control objectives. In this paper, we propose AIR-VLA+, a flow matching action generation architecture specifically designed for aerial manipulation, featuring cascaded dual-action decoders and an asymmetric feature-level Mixture of Experts (MoE). We construct cascaded manipulation and movement decoders, allowing the UAV to unidirectionally observe the manipulator's intent during movement to achieve workflow coordination, while isolating the impact of UAV movement information backpropagation on arm manipulation stability. Addressing the characteristic that UAV movement is highly dependent on high-level semantics and responsible for task state transitions in aerial manipulation, we design an input feature enhancement module for the UAV movement decoder. This module introduces an implicit visual grasp projector to perceive the interaction state between the gripper and the object, and injects compressed global semantic features. Within the UAV movement decoder, we deploy an implicit MoE architecture, enabling different movement experts to spontaneously exhibit capacity inclinations for various task stages during training. Through dense soft blending computation on the feature manifold, the UAV movement is endowed with stronger task-stage adaptability. Experiments on the standardized AIR-VLA benchmark demonstrate that our method comprehensively surpasses all baselines with an overall average score of 48.0. The overall task completion score improves by 80.2\% compared to the single-head $\pi_{0.5}$ policy, effectively mitigating the heterogeneous coordinated control conflicts of composite robots.

cs.RO↗

arXiv2026

UAV-Track VLA: Embodied Aerial Tracking via Vision-Language-Action Models

Embodied visual tracking is crucial for Unmanned Aerial Vehicles (UAVs) executing complex real-world tasks. In dynamic urban scenarios with complex semantic requirements, Vision-Language-Action (VLA) models show great promise due to their cross-modal fusion and continuous action generation capabilities. To benchmark multimodal tracking in such environments, we construct a dedicated evaluation benchmark and a large-scale dataset encompassing over 890K frames, 176 tasks, and 85 diverse objects. Furthermore, to address temporal feature redundancy and the lack of spatial geometric priors in existing VLA models, we propose an improved VLA tracking model, UAV-Track VLA. Built upon the $\pi_{0.5}$ architecture, our model introduces a temporal compression net to efficiently capture inter-frame dynamics. Additionally, a parallel dual-branch decoder comprising a spatial-aware auxiliary grounding head and a flow matching action expert is designed to decouple cross-modal features and generate fine-grained continuous actions. Systematic experiments in the CARLA simulator validate the superior end-to-end performance of our method. Notably, in challenging long-distance pedestrian tracking tasks, UAV-Track VLA achieves a 61.76\% success rate and 269.65 average tracking frames, significantly outperforming existing baselines. Furthermore, it demonstrates robust zero-shot generalization in unseen environments and reduces single-step inference latency by 33.4\% (to 0.0571s) compared to the original $\pi_{0.5}$, enabling highly efficient, real-time UAV control. Data samples and demonstration videos are available at: https://github.com/Hub-Tian/UAV-Track_VLA.

cs.CV↗

arXiv2026

AIR-VLA: Vision-Language-Action Systems for Aerial Manipulation

While Vision-Language-Action (VLA) models have achieved remarkable success in ground-based embodied intelligence, their application to Aerial Manipulation Systems (AMS) remains a largely unexplored frontier. The inherent characteristics of AMS, including floating-base dynamics, strong coupling between the UAV and the manipulator, and the multi-step, long-horizon nature of operational tasks, pose severe challenges to existing VLA paradigms designed for static or 2D mobile bases. To bridge this gap, we propose \textbf{AIR-VLA}, the first VLA benchmark specifically tailored for aerial manipulation. We construct a physics-based simulation environment and release a high-quality multimodal dataset comprising 3000 manually teleoperated demonstrations, covering base manipulation, object \& spatial understanding, semantic reasoning, and long-horizon planning. Leveraging this platform, we systematically evaluate mainstream VLA models and state-of-the-art VLM models. Our experiments not only validate the feasibility of transferring VLA paradigms to aerial systems but also, through multi-dimensional metrics tailored to aerial tasks, reveal the capabilities and boundaries of current models regarding UAV mobility, manipulator control, and high-level planning. \textbf{AIR-VLA} establishes a standardized testbed and data foundation for future research in general-purpose aerial robotics. The resource of AIR-VLA will be available at https://github.com/SpencerSon2001/AIR-VLA.

cs.RO↗

arXiv2026

CogRail: Benchmarking VLMs in Cognitive Intrusion Perception for Intelligent Railway Transportation Systems

Accurate and early perception of potential intrusion targets is essential for ensuring the safety of railway transportation systems. However, most existing systems focus narrowly on object classification within fixed visual scopes and apply rule-based heuristics to determine intrusion status, often overlooking targets that pose latent intrusion risks. Anticipating such risks requires the cognition of spatial context and temporal dynamics for the object of interest (OOI), which presents challenges for conventional visual models. To facilitate deep intrusion perception, we introduce a novel benchmark, CogRail, which integrates curated open-source datasets with cognitively driven question-answer annotations to support spatio-temporal reasoning and prediction. Building upon this benchmark, we conduct a systematic evaluation of state-of-the-art visual-language models (VLMs) using multimodal prompts to identify their strengths and limitations in this domain. Furthermore, we fine-tune VLMs for better performance and propose a joint fine-tuning framework that integrates three core tasks, position perception, movement prediction, and threat analysis, facilitating effective adaptation of general-purpose foundation models into specialized models tailored for cognitive intrusion perception. Extensive experiments reveal that current large-scale multimodal models struggle with the complex spatial-temporal reasoning required by the cognitive intrusion perception task, underscoring the limitations of existing foundation models in this safety-critical domain. In contrast, our proposed joint fine-tuning framework significantly enhances model performance by enabling targeted adaptation to domain-specific reasoning demands, highlighting the advantages of structured multi-task learning in improving both accuracy and interpretability. Code will be available at https://github.com/Hub-Tian/CogRail.

cs.CV↗

arXiv2025

AMap: Distilling Future Priors for Ahead-Aware Online HD Map Construction

Online High-Definition (HD) map construction is pivotal for autonomous driving. While recent approaches leverage historical temporal fusion to improve performance, we identify a critical safety flaw in this paradigm: it is inherently ``spatially backward-looking." These methods predominantly enhance map reconstruction in traversed areas, offering minimal improvement for the unseen road ahead. Crucially, our analysis of downstream planning tasks reveals a severe asymmetry: while rearward perception errors are often tolerable, inaccuracies in the forward region directly precipitate hazardous driving maneuvers. To bridge this safety gap, we propose AMap, a novel framework for Ahead-aware online HD Mapping. We pioneer a ``distill-from-future" paradigm, where a teacher model with privileged access to future temporal contexts guides a lightweight student model restricted to the current frame. This process implicitly compresses prospective knowledge into the student model, endowing it with ``look-ahead" capabilities at zero inference-time cost. Technically, we introduce a Multi-Level BEV Distillation strategy with spatial masking and an Asymmetric Query Adaptation module to effectively transfer future-aware representations to the student's static queries. Extensive experiments on the nuScenes and Argoverse 2 benchmark demonstrate that AMap significantly enhances current-frame perception. Most notably, it outperforms state-of-the-art temporal models in critical forward regions while maintaining the efficiency of single current frame inference.

cs.CV↗

arXiv2025

Map-World: Masked Action planning and Path-Integral World Model for Autonomous Driving

Motion planning for autonomous driving must handle multiple plausible futures while remaining computationally efficient. Recent end-to-end systems and world-model-based planners predict rich multi-modal trajectories, but typically rely on handcrafted anchors or reinforcement learning to select a single best mode for training and control. This selection discards information about alternative futures and complicates optimization. We propose MAP-World, a prior-free multi-modal planning framework that couples masked action planning with a path-weighted world model. The Masked Action Planning (MAP) module treats future ego motion as masked sequence completion: past waypoints are encoded as visible tokens, future waypoints are represented as mask tokens, and a driving-intent path provides a coarse scaffold. A compact latent planning state is expanded into multiple trajectory queries with injected noise, yielding diverse, temporally consistent modes without anchor libraries or teacher policies. A lightweight world model then rolls out future BEV semantics conditioned on each candidate trajectory. During training, semantic losses are computed as an expectation over modes, using trajectory probabilities as discrete path weights, so the planner learns from the full distribution of plausible futures instead of a single selected path. On NAVSIM, our method matches anchor-based approaches and achieves state-of-the-art performance among world-model-based methods, while avoiding reinforcement learning and maintaining real-time inference latency.

cs.CV↗

arXiv2025

TranSimHub:A Unified Air-Ground Simulation Platform for Multi-Modal Perception and Decision-Making

Air-ground collaborative intelligence is becoming a key approach for next-generation urban intelligent transportation management, where aerial and ground systems work together on perception, communication, and decision-making. However, the lack of a unified multi-modal simulation environment has limited progress in studying cross-domain perception, coordination under communication constraints, and joint decision optimization. To address this gap, we present TranSimHub, a unified simulation platform for air-ground collaborative intelligence. TranSimHub offers synchronized multi-view rendering across RGB, depth, and semantic segmentation modalities, ensuring consistent perception between aerial and ground viewpoints. It also supports information exchange between the two domains and includes a causal scene editor that enables controllable scenario creation and counterfactual analysis under diverse conditions such as different weather, emergency events, and dynamic obstacles. We release TranSimHub as an open-source platform that supports end-to-end research on perception, fusion, and control across realistic air and ground traffic scenes. Our code is available at https://github.com/Traffic-Alpha/TransSimHub.

eess.SY↗

arXiv2025

Stability Under Scrutiny: Benchmarking Representation Paradigms for Online HD Mapping

As one of the fundamental modules in autonomous driving, online high-definition (HD) maps have attracted significant attention due to their cost-effectiveness and real-time capabilities. Since vehicles always cruise in highly dynamic environments, spatial displacement of onboard sensors inevitably causes shifts in real-time HD mapping results, and such instability poses fundamental challenges for downstream tasks. However, existing online map construction models tend to prioritize improving each frame's mapping accuracy, while the mapping stability has not yet been systematically studied. To fill this gap, this paper presents the first comprehensive benchmark for evaluating the temporal stability of online HD mapping models. We propose a multi-dimensional stability evaluation framework with novel metrics for Presence, Localization, and Shape Stability, integrated into a unified mean Average Stability (mAS) score. Extensive experiments on 42 models and variants show that accuracy (mAP) and stability (mAS) represent largely independent performance dimensions. We further analyze the impact of key model design choices on both criteria, identifying architectural and training factors that contribute to high accuracy, high stability, or both. To encourage broader focus on stability, we will release a public benchmark. Our work highlights the importance of treating temporal stability as a core evaluation criterion alongside accuracy, advancing the development of more reliable autonomous driving systems. The benchmark toolkit, code, and models will be available at https://stablehdmap.github.io/.

cs.CV↗

arXiv2025

MapKD: Unlocking Prior Knowledge with Cross-Modal Distillation for Efficient Online HD Map Construction

Online HD map construction is a fundamental task in autonomous driving systems, aiming to acquire semantic information of map elements around the ego vehicle based on real-time sensor inputs. Recently, several approaches have achieved promising results by incorporating offline priors such as SD maps and HD maps or by fusing multi-modal data. However, these methods depend on stale offline maps and multi-modal sensor suites, resulting in avoidable computational overhead at inference. To address these limitations, we employ a knowledge distillation strategy to transfer knowledge from multimodal models with prior knowledge to an efficient, low-cost, and vision-centric student model. Specifically, we propose MapKD, a novel multi-level cross-modal knowledge distillation framework with an innovative Teacher-Coach-Student (TCS) paradigm. This framework consists of: (1) a camera-LiDAR fusion model with SD/HD map priors serving as the teacher; (2) a vision-centric coach model with prior knowledge and simulated LiDAR to bridge the cross-modal knowledge transfer gap; and (3) a lightweight vision-based student model. Additionally, we introduce two targeted knowledge distillation strategies: Token-Guided 2D Patch Distillation (TGPD) for bird's eye view feature alignment and Masked Semantic Response Distillation (MSRD) for semantic learning guidance. Extensive experiments on the challenging nuScenes dataset demonstrate that MapKD improves the student model by +6.68 mIoU and +10.94 mAP while simultaneously accelerating inference speed. The code is available at:https://github.com/2004yan/MapKD2026.

cs.CV↗

arXiv2025

Reusing Attention for One-stage Lane Topology Understanding

Understanding lane toplogy relationships accurately is critical for safe autonomous driving. However, existing two-stage methods suffer from inefficiencies due to error propagations and increased computational overheads. To address these challenges, we propose a one-stage architecture that simultaneously predicts traffic elements, lane centerlines and topology relationship, improving both the accuracy and inference speed of lane topology understanding for autonomous driving. Our key innovation lies in reusing intermediate attention resources within distinct transformer decoders. This approach effectively leverages the inherent relational knowledge within the element detection module to enable the modeling of topology relationships among traffic elements and lanes without requiring additional computationally expensive graph networks. Furthermore, we are the first to demonstrate that knowledge can be distilled from models that utilize standard definition (SD) maps to those operates without using SD maps, enabling superior performance even in the absence of SD maps. Extensive experiments on the OpenLane-V2 dataset show that our approach outperforms baseline methods in both accuracy and efficiency, achieving superior results in lane detection, traffic element identification, and topology reasoning. Our code is available at https://github.com/Yang-Li-2000/one-stage.git.

cs.CV↗

arXiv2025

SAH-Drive: A Scenario-Aware Hybrid Planner for Closed-Loop Vehicle Trajectory Generation

Reliable planning is crucial for achieving autonomous driving. Rule-based planners are efficient but lack generalization, while learning-based planners excel in generalization yet have limitations in real-time performance and interpretability. In long-tail scenarios, these challenges make planning particularly difficult. To leverage the strengths of both rule-based and learning-based planners, we proposed the Scenario-Aware Hybrid Planner (SAH-Drive) for closed-loop vehicle trajectory planning. Inspired by human driving behavior, SAH-Drive combines a lightweight rule-based planner and a comprehensive learning-based planner, utilizing a dual-timescale decision neuron to determine the final trajectory. To enhance the computational efficiency and robustness of the hybrid planner, we also employed a diffusion proposal number regulator and a trajectory fusion module. The experimental results show that the proposed method significantly improves the generalization capability of the planning system, achieving state-of-the-art performance in interPlan, while maintaining computational efficiency without incurring substantial additional runtime.

cs.RO↗

arXiv2025

Text2Scenario: Text-Driven Scenario Generation for Autonomous Driving Test

Autonomous driving (AD) testing constitutes a critical methodology for assessing performance benchmarks prior to product deployment. The creation of segmented scenarios within a simulated environment is acknowledged as a robust and effective strategy; however, the process of tailoring these scenarios often necessitates laborious and time-consuming manual efforts, thereby hindering the development and implementation of AD technologies. In response to this challenge, we introduce Text2Scenario, a framework that leverages a Large Language Model (LLM) to autonomously generate simulation test scenarios that closely align with user specifications, derived from their natural language inputs. Specifically, an LLM, equipped with a meticulously engineered input prompt scheme functions as a text parser for test scenario descriptions, extracting from a hierarchically organized scenario repository the components that most accurately reflect the user's preferences. Subsequently, by exploiting the precedence of scenario components, the process involves sequentially matching and linking scenario representations within a Domain Specific Language corpus, ultimately fabricating executable test scenarios. The experimental results demonstrate that such prompt engineering can meticulously extract the nuanced details of scenario elements embedded within various descriptive formats, with the majority of generated scenarios aligning closely with the user's initial expectations, allowing for the efficient and precise evaluation of diverse AD stacks void of the labor-intensive need for manual scenario configuration. Project page: https://caixxuan.github.io/Text2Scenario.GitHub.io.

cs.SE↗

arXiv2024

PreMixer: MLP-Based Pre-training Enhanced MLP-Mixers for Large-scale Traffic Forecasting

In urban computing, precise and swift forecasting of multivariate time series data from traffic networks is crucial. This data incorporates additional spatial contexts such as sensor placements and road network layouts, and exhibits complex temporal patterns that amplify challenges for predictive learning in traffic management, smart mobility demand, and urban planning. Consequently, there is an increasing need to forecast traffic flow across broader geographic regions and for higher temporal coverage. However, current research encounters limitations because of the inherent inefficiency of model and their unsuitability for large-scale traffic network applications due to model complexity. This paper proposes a novel framework, named PreMixer, designed to bridge this gap. It features a predictive model and a pre-training mechanism, both based on the principles of Multi-Layer Perceptrons (MLP). The PreMixer comprehensively consider temporal dependencies of traffic patterns in different time windows and processes the spatial dynamics as well. Additionally, we integrate spatio-temporal positional encoding to manage spatiotemporal heterogeneity without relying on predefined graphs. Furthermore, our innovative pre-training model uses a simple patch-wise MLP to conduct masked time series modeling, learning from long-term historical data segmented into patches to generate enriched contextual representations. This approach enhances the downstream forecasting model without incurring significant time consumption or computational resource demands owing to improved learning efficiency and data handling flexibility. Our framework achieves comparable state-of-the-art performance while maintaining high computational efficiency, as verified by extensive experiments on large-scale traffic datasets.

cs.LG↗

arXiv2024

NEST: A Neuromodulated Small-world Hypergraph Trajectory Prediction Model for Autonomous Driving

Accurate trajectory prediction is essential for the safety and efficiency of autonomous driving. Traditional models often struggle with real-time processing, capturing non-linearity and uncertainty in traffic environments, efficiency in dense traffic, and modeling temporal dynamics of interactions. We introduce NEST (Neuromodulated Small-world Hypergraph Trajectory Prediction), a novel framework that integrates Small-world Networks and hypergraphs for superior interaction modeling and prediction accuracy. This integration enables the capture of both local and extended vehicle interactions, while the Neuromodulator component adapts dynamically to changing traffic conditions. We validate the NEST model on several real-world datasets, including nuScenes, MoCAD, and HighD. The results consistently demonstrate that NEST outperforms existing methods in various traffic scenarios, showcasing its exceptional generalization capability, efficiency, and temporal foresight. Our comprehensive evaluation illustrates that NEST significantly improves the reliability and operational efficiency of autonomous driving systems, making it a robust solution for trajectory prediction in complex traffic environments.

cs.RO↗

arXiv2024

Stag-1: Towards Realistic 4D Driving Simulation with Video Generation Model

4D driving simulation is essential for developing realistic autonomous driving simulators. Despite advancements in existing methods for generating driving scenes, significant challenges remain in view transformation and spatial-temporal dynamic modeling. To address these limitations, we propose a Spatial-Temporal simulAtion for drivinG (Stag-1) model to reconstruct real-world scenes and design a controllable generative network to achieve 4D simulation. Stag-1 constructs continuous 4D point cloud scenes using surround-view data from autonomous vehicles. It decouples spatial-temporal relationships and produces coherent keyframe videos. Additionally, Stag-1 leverages video generation models to obtain photo-realistic and controllable 4D driving simulation videos from any perspective. To expand the range of view generation, we train vehicle motion videos based on decomposed camera poses, enhancing modeling capabilities for distant scenes. Furthermore, we reconstruct vehicle camera trajectories to integrate 3D points across consecutive views, enabling comprehensive scene understanding along the temporal dimension. Following extensive multi-level scene training, Stag-1 can simulate from any desired viewpoint and achieve a deep understanding of scene evolution under static spatial-temporal conditions. Compared to existing methods, our approach shows promising performance in multi-view scene consistency, background coherence, and accuracy, and contributes to the ongoing advancements in realistic autonomous driving simulation. Code: https://github.com/wzzheng/Stag.

cs.CV↗

arXiv2024

Proactive security defense: cyber threat intelligence modeling for connected autonomous vehicles

Cybersecurity has become a crucial concern in the field of connected autonomous vehicles. Cyber threat intelligence (CTI), as the collection of cyber threat information, offers an ideal way for responding to emerging cyber threats and realizing proactive security defense. However, instant analysis and modeling of vehicle cybersecurity data is a fundamental challenge since its complex and professional context. In this paper, we suggest an automotive CTI modeling framework, Actim, to extract and analyse the interrelated relationships among cyber threat elements. Specifically, we first design a vehicle security-safety conceptual ontology model to depict various threat entity classes and their relations. Then, we manually annotate the first automobile CTI corpus by using real cybersecurity data, which comprises 908 threat intelligence texts, including 8195 entities and 4852 relationships. To effectively extract cyber threat entities and their relations, we propose an automotive CTI mining model based on cross-sentence context. Experiment results show that the proposed BERT-DocHiatt-BiLSTM-LSTM model exceeds the performance of existing methods. Finally, we define entity-relation matching rules and create a CTI knowledge graph that structurally fuses various elements of cyber threats. The Actim framework enables mining the intrinsic connections among threat entities, providing valuable insight on the evolving cyber threat landscape.

cs.CR↗