FlowSim: Rendering-Free Closed-Loop Simulation for Evaluating End-to-End Driving Systems
Closed-loop evaluation of end-to-end (E2E) driving systems typically relies on generating sensor observations and re-processing them through the perception encoder, introducing substantial computational cost and a sim2real gap between simulated and real sensor observations. In this paper, we ask a more fundamental question: is image-space simulation necessary for closed-loop evaluation of E2E driving systems? We propose FlowSim, a rendering-free simulation paradigm that predicts the internal latent representation directly from a previous latent and target-frame symbolic scene conditions. The predicted latent is then processed by the original frozen downstream modules, eliminating image re...
| Authors | Hanfeng Wu, Alvaro Marcos-Ramiro, Michael Schmidt et al. |
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| Primary category | cs.CV |
| Published | 13 October 2026 |
| Last updated at source | 13 October 2026 |
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