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

arXiv · AI, language, vision and robotics · article · Sep 19, 2026 · UTC

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, Planning-Aligned BEV Encoder Pretraining. From a single LiDAR sweep, PAVER constructs sparse risk and unknown targets describing occupied and unobserved evidence along rule-based ego motions. A 10K-parameter head predicts these targets from masked BEV features conditioned on the action state, directing supervision toward geometric constraints on candidate motions. Pretraining requires no drivin

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