Author

Tengfei She

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Preprint Aug 2026

FactorDrive: Adaptive Multi-Step Reasoning Driven by Planning-Critical Factors for End-to-End Autonomous Driving

FactorDrive is proposed, an end-to-end autonomous driving framework for adaptive multi-step reasoning driven by planning-critical factors (PCFs) and Quality Search-Guided Group Relative Policy Optimization (QS-GRPO), which guides Monte Carlo Tree Search with trajectory-level planning rewards to discover reasoning paths...

Guolei Huang, Tengfei She, Yuxuan Lu et al. · 0 citations