Closed-Loop Evaluation of Bird's-Eye-View Maps from Cross-View Transformers as Inputs to Behavior-Cloning Policies
In autonomous driving, Bird's-Eye View (BEV) representations provide a structured, top-down abstraction of the vehicle's surroundings and have become a key input modality for Behavioral Cloning (BC) policies. While ground-truth BEV maps are readily available in simulation, real-world deployment requires replacing them with camera-predicted counterparts - a substitution that introduces perceptual errors whose downstream impact on closed-loop driving performance is not well understood. In this work, we investigate the use of Cross-View Transformer (CVT)-predicted BEV maps as direct policy inputs for a BC agent in the CARLA simulator. We propose a six-channel BEV representation covering road...
| Authors | Felipe Carlos dos Santos, Eric Antonelo, Gustavo Claudio Karl Couto |
|---|---|
| Primary category | cs.RO |
| Published | 5 September 2026 |
| Last updated at source | 5 September 2026 |
Silytics shows public metadata from arXiv and links to the original. Information may be incomplete or out of date. Last refreshed 17 October 2026. Licenses and terms of the original apply to the work itself. Not financial, legal or professional advice.