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VIPS: Vehicle-Infrastructure Cooperative Planning Benchmark via Pseudo-Simulation

arXiv · AI, language, vision and robotics · article · Sep 2, 2026 · UTC

End-to-end autonomous driving in urban environments requires robust decision-making under partial observability and complex multi-agent interactions. Severe occlusions and dense traffic at intersections limit the perception capability of single-agent systems, motivating recent efforts on Vehicle-to-Infrastructure (V2I) cooperation for perception and planning. However, existing evaluation protocols face a fundamental trade-off: open-loop evaluation fails to capture error accumulation and recovery from deviations, while closed-loop evaluation is costly, difficult to scale, and often relies on si

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