Planning-Aligned Pretraining of BEV Representations with Sparse Action-Conditioned Targets for End-to-End Autonomous Driving.

arXiv:2609.22868v1 Announce Type: cross Abstract: End-to-end driving requires planning-relevant bird's-eye-view (BEV) representations, but existing pretraining approaches often rely on task annotations or dense scene reconstruction. We introduce PAVER, Plannin