ManeuverFlow: Maneuver Hypothesis Generation with Future Evidence for Trajectory Evaluation and Refinement in End-to-End Autonomous Driving

End-to-end planning in complex scenes must model diverse driving intentions and select the most appropriate trajectory using scene context and future risks. However, multi-query regression may collapse to one mode, while anchor-based and generative planners share a scaling bottleneck: small candidate sets limit maneuver coverage or discovery of high-quality trajectories, whereas large sets increase generation and scoring costs.

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