Lei Yu, Alois Knoll, Yujie Guo, Zhaowei Lu, Liguo Zhou
We have not lifted any functions out of this paper's repositories yet, so there is nothing we have run. The repositories linked to it are listed below.
Some links come from the archived Papers with Code dataset (CC BY-SA 4.0): attribution and licence.
We present S2Planner, a trajectory planner that combines three front-facing cameras with ego-motion history and the current driving command. A fine-tuned DINOv3 backbone and a Spatial Tuning Adapter produce multi-scale image features; a coarse-to-fine decoder then uses trajectory self-attention and camera-projected cross-attention to refine candidate waypoints. The contribution is the integration of ego-conditioned trajectory initialization with iterative, geometry-guided sampling of multi-scale image features, rather than a new visual backbone or attention operator. On the NAVSIM v1 non-reactive evaluation, the previously reported navtest run obtained 88.03 PDMS. Because that run was selected using navtest performance, this number is exploratory and cannot be interpreted as an unbiased test estimate. Validation-selected evaluation on unexposed data, repeated runs, and computational measurements are needed to establish generalization and efficiency.
The same record, over MCP at https://syntology.ai/mcp:
get_harvested_code_for_paper("2609.29813")
get_code_for_paper("2609.29813")
have("2609.29813")
The run record, dated, one paper per request, free:
curl https://syntology.ai/api/ran/2609.29813.json
A badge for a README (the split and the date, never a ratio):
[](https://syntology.ai/paper/2609.29813)
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