Reproduce “Real-Time Closed-Loop Driving with Frozen DINOv2-Laya Spatial Pooling and Quintic Path Tracking” on OpenResearch
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About this paper
Wick-Lim
The system combines frozen DINOv2 and Laya models with a learned adapter, then passes decisions through map-aware safety and control logic for 20 Hz simulated driving. On CARLA Town10HD_Opt, it completed 93 of 100 cross-weather episodes, versus 83 of 100 for a two-layer Transformer baseline. A 32.85 ms pass fits the 50 ms budget; results are simulation-only.
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