ConDenseDrive: Knowledge-Dense, Token-Sparse Visual Encoder for End-to-End Autonomous Driving
End-to-end driving requires rich spatiotemporal representations to support scene understanding and trajectory planning under strict latency constraints. However, most systems initialize their visual encoders from generic image pretraining and densely process all patch tokens for each camera view and input frame, limiting both representation quality and inference efficiency. To address these challenges, we present ConDenseDrive, a knowledge-dense and token-sparse visual encoder for end-to-end autonomous driving. Our three-stage framework first makes the encoder knowledge-dense by distilling complementary visual, semantic, and geometric knowledge from three vision foundation models. It then...
| Authors | Shengzhen Li, Yongkang Li, Hao Gao et al. |
|---|---|
| Primary category | cs.CV |
| Published | 12 October 2026 |
| Last updated at source | 12 October 2026 |
Silytics shows public metadata from arXiv and links to the original. Information may be incomplete or out of date. Last refreshed 15 October 2026. Licenses and terms of the original apply to the work itself. Not financial, legal or professional advice.