[CVPR'23 WAD] Keynote - Andreas Geiger, Universität Tübingen

Talk given at the CVPR Workshop on Autonomous Driving 2023: cvpr2023.wad.vision/.
00:00 Introduction
03:12 nuPlan
04:53 Open-Loop and Closed-Loop
05:57 Lesson 1: A route centerline is all you need for ego-forecasting
08:25 Lesson 2: Rule-based beat learned planners in closed-loop
10:06 Lesson 3: Planning & ego-forecasting tasks are misaligned
16:01 Lesson 4: Learned/long-term forecasting doesn't improve closed-loop
17:49 CARLA
22:00 TransFuser
22:58 Lesson 5: Target point conditioned methods learn shortcut when out-of-distribution
25:26 Lesson 6: Average pooling remove spatial info and increases bias
27:11 Lesson 7: Waypoint representations work well as they learn to interpolate
28:48 Summary

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