VIPS: Vehicle-Infrastructure Cooperative Planning Benchmark via Pseudo-Simulation
End-to-end autonomous driving in urban environments requires robust decision-making under partial observability and complex multi-agent interactions. Severe occlusions and dense traffic at intersections limit the perception capability of single-agent systems, motivating recent efforts on Vehicle-to-Infrastructure (V2I) cooperation for perception and planning. However, existing evaluation protocols face a fundamental trade-off: open-loop evaluation fails to capture error accumulation and recovery from deviations, while closed-loop evaluation is costly, difficult to scale, and often relies on simulated environments that may suffer from domain gaps. To bridge this gap, we propose VIPS, a ben...
| Authors | Hoonhee Cho, Jae-Young Kang, Giwon Lee et al. |
|---|---|
| Primary category | cs.CV |
| Published | 2 September 2026 |
| Last updated at source | 2 September 2026 |
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