MeanFuser: Fast One-Step Multi-Modal Trajectory Generation and Adaptive Reconstruction via MeanFlow for End-to-End Autonomous Driving

TL;DR

MeanFuser introduces a continuous, efficient, and robust trajectory generation method for autonomous driving by replacing discrete anchors with Gaussian Mixture Noise and employing a novel mean velocity modeling approach.

Contribution

It proposes a novel end-to-end autonomous driving framework that eliminates reliance on discrete anchor vocabularies and accelerates inference through MeanFlow adaptation and adaptive reconstruction.

Findings

Achieves state-of-the-art performance on NAVSIM benchmark

Demonstrates significant inference speed improvements

Provides robust trajectory predictions without supervision

Abstract

Generative models have shown great potential in trajectory planning. Recent studies demonstrate that anchor-guided generative models are effective in modeling the uncertainty of driving behaviors and improving overall performance. However, these methods rely on discrete anchor vocabularies that must sufficiently cover the trajectory distribution during testing to ensure robustness, inducing an inherent trade-off between vocabulary size and model performance. To overcome this limitation, we propose MeanFuser, an end-to-end autonomous driving method that enhances both efficiency and robustness through three key designs. (1) We introduce Gaussian Mixture Noise (GMN) to guide generative sampling, enabling a continuous representation of the trajectory space and eliminating the dependency on discrete anchor vocabularies. (2) We adapt ``MeanFlow Identity" to end-to-end planning, which models the mean velocity field between GMN and trajectory distribution instead of the instantaneous velocity field used in vanilla flow matching methods, effectively eliminating numerical errors from ODE solvers and significantly accelerating inference. (3) We design a lightweight Adaptive Reconstruction Module (ARM) that enables the model to implicitly select from all sampled proposals or reconstruct a new trajectory when none is satisfactory via attention weights.Experiments on the NAVSIM closed-loop benchmark demonstrate that MeanFuser achieves outstanding performance without the supervision of the PDM Score and exceptional inference efficiency, offering a robust and efficient solution for end-to-end autonomous driving. Our code and model are available at https://github.com/wjl2244/MeanFuser.