End-to-end autonomous driving systems commonly follow a cascaded two-stage pipeline where a perception stage compresses multi-modal sensor inputs into a compact context and a downstream planner predicts trajectories conditioned on this context. We argue that this one-way perception-to-planning interface forces sensor inputs into a compact representation, losing the fine-grained details critical for planning. Moreover, by constraining the planner to this compressed context, it is difficult to leverage the rich representations offered by modern vision foundation models. To address these issues, we propose MOJITO, a unified sensor-to-action framework for end-to-end autonomous driving built on modal joint learning. MOJITO removes the cascaded interface and instead performs block-wise Modal Joint Attention that simultaneously updates action, image, and LiDAR features, allowing the planner to directly access multi-modal features during action generation. MOJITO achieves 88.9 PDMS on the NAVSIM v1 dataset and 88.4 EPDMS on the more challenging NAVSIM v2 dataset, setting a new state-of-the-art. Extensive experiments further demonstrate strong scalability, instruction following, and diverse trajectory generation. Code and models are available at https://github.com/mumucc01/MOJITO.
Zhijing Cheng, Xuan Zhang, Donglin Di et al.· arXiv.org· 0 citations
Gaze target estimation aims to infer the position of a person's gaze within a scene. Within mainstream design logic, multi-branch methods require extra supervision and annotations, while streamlined designs prioritize low-level visual saliency over true gaze intent. The former leads to a high annotation burden and hinders domain transfer, whereas the latter causes misalignment between predicted attention and actual gaze targets. To address this issue, we propose TextGaze, a unified cross-modal architecture that leverages a Large Vision-Language Model (LVLM) as scalable semantic guidance to balance the two design paradigms. The model extracts visual features from a frozen encoder and utilizes an LVLM to obtain gaze-aligned textual cues. We design a transformer-based fusion module with hierarchical text supervision to preserve task semantics. Lightweight decoding heads enable the joint prediction of gaze heatmaps and in-/out-of-frame status. We evaluate our method on four mainstream datasets, and the results show competitive performance across key metrics with robust cross-dataset generalisation without extra fine-tuning. Overall, we provide a streamlined alternative to traditional designs and highlight the potential of LVLMs as accessible auxiliary guidance for gaze estimation.
J. She, Fei Wang, Kun Li et al.· 0 citations
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