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Risk-Aware Occupancy for Safety-Oriented End-to-End Autonomous Driving

arXiv · AI, language, vision and robotics · article · Sep 18, 2026 · UTC

Sparse representation formulates the environment perception for the end-to-end driving system as a set of discrete elements like objects and lane lines. This formulation meets safety risks in crowded, occluded scenes dealing with unstructured obstacles, uncertain regions, and intricate interactions. In this paper, we propose a dense representation, risk-aware occupancy, to characterize planning-relevant risks in an explicit and uniform manner. It jointly encodes global scene occupancy, map-derived traffic constraints, and future dynamic agent occupancy into a unified BEV map. The unified BEV m

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