Causality-Aware End-to-End Autonomous Driving via Ego-Centric Joint Scene Modeling

ArXi:2605.13646v1 Announce Type: cross End-to-end autonomous driving, which bypasses traditional modular pipelines by directly predicting future trajectories from sensor inputs, has recently achieved substantial progress. However, existing methods often overlook the causal inter-dependencies in ego-vehicle planning, ignoring the reciprocal relations between the ego vehicle and surrounding agents.