SOURCE-LINKED INTELLIGENCE
BranchDrive: A Branch-Structured Dataset for Action-Conditioned Driving Prediction
Most autonomous-driving datasets record only the action executed by a behavior policy and the single future that followed, providing limited supervision for comparing alternative ego decisions. We introduce BranchDrive, a branch-structured CARLA dataset and benchmark that pairs one canonical pre-decision history with one nominal expert future and twelve physically executed intervention futures spanning acceleration, braking, and left- and right-steering policies at three magnitudes. Each intervention lasts 2.5 s and is followed by expert recovery. Following control-compliance, modality-complet
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Evidence & attribution
- arXiv · AI, language, vision and robotics · 2026-09-23T03:02:38.000Z
First collected: 2026-09-24T01:22:21.678Z. This is not the publication date.