{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/safety-enhanced-autonomous-driving-using-1","title":"Safety-Enhanced Autonomous Driving Using Interpretable Sensor Fusion Transformer","arxiv_id":"2207.14024","date":"2022-07-28","proceeding":null,"authors":["Hao Shao","Letian Wang","RuoBing Chen","Hongsheng Li","Yu Liu"],"abstract":"Large-scale deployment of autonomous vehicles has been continually delayed due to safety concerns. On the one hand, comprehensive scene understanding is indispensable, a lack of which would result in vulnerability to rare but complex traffic situations, such as the sudden emergence of unknown objects. However, reasoning from a global context requires access to sensors of multiple types and adequate fusion of multi-modal sensor signals, which is difficult to achieve. On the other hand, the lack of interpretability in learning models also hampers the safety with unverifiable failure causes. In this paper, we propose a safety-enhanced autonomous driving framework, named Interpretable Sensor Fusion Transformer(InterFuser), to fully process and fuse information from multi-modal multi-view sensors for achieving comprehensive scene understanding and adversarial event detection. Besides, intermediate interpretable features are generated from our framework, which provide more semantics and are exploited to better constrain actions to be within the safe sets. We conducted extensive experiments on CARLA benchmarks, where our model outperforms prior methods, ranking the first on the public CARLA Leaderboard. Our code will be made available at https://github.com/opendilab/InterFuser","url_abs":"https://arxiv.org/abs/2207.14024v5","url_pdf":"https://arxiv.org/pdf/2207.14024v5.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"safety-enhanced-autonomous-driving-using-1","repo_url":"https://github.com/opendilab/InterFuser","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"pytorch","reach":null}],"tasks":[{"task_slug":"autonomous-driving","task_name":"Autonomous Driving"},{"task_slug":"autonomous-vehicles","task_name":"Autonomous Vehicles"},{"task_slug":"carla-longest6","task_name":"CARLA longest6"},{"task_slug":"event-detection","task_name":"Event Detection"},{"task_slug":"scene-understanding","task_name":"Scene Understanding"},{"task_slug":"sensor-fusion","task_name":"Sensor Fusion"}],"methods":[{"method_slug":"carla","method_name":"CARLA"},{"method_slug":"entropy-regularization","method_name":"Entropy Regularization"},{"method_slug":"ppo","method_name":"PPO"}],"datasets_introduced":[],"methods_introduced":[],"results":[{"leaderboard":"/sota/autonomous-driving-on-carla-leaderboard","task":"Autonomous Driving","dataset":"CARLA Leaderboard","model":"InterFuser","rank_in_archive_order":2,"of":18,"metrics":{"Driving Score":"76.18","Infraction penalty":"0.84","Route Completion":"88.23"},"uses_additional_data":false},{"leaderboard":"/sota/autonomous-driving-on-carla-leaderboard","task":"Autonomous Driving","dataset":"CARLA Leaderboard","model":"InterFuser (Reproduced)","rank_in_archive_order":12,"of":18,"metrics":{"Driving Score":"34.15","Infraction penalty":"0.45","Route Completion":"74.79"},"uses_additional_data":false},{"leaderboard":"/sota/carla-longest6-on-carla","task":"CARLA longest6","dataset":"CARLA","model":"Interfuser","rank_in_archive_order":15,"of":21,"metrics":{"Driving Score":"47","Infraction Score":"0.63","Route Completion":"74"},"uses_additional_data":false}],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=2207.14024","mcp":{"get_harvested_code_for_paper":{"arxiv_id":"2207.14024"}},"developers":"https://syntology.ai/developers","read_at":"2026-09-24T18:15:14+00:00","read_at_is":"when the build read Syntology's graph, not when any sample ran","claim":"Per-sample execution status on synthesized fixtures; not a correctness claim about the paper. Samples come from repositories linked to the paper, official or community; repo_kind says which.","repos":[{"provenance":"external:paperswithcode_snapshot_2025-07-28","url":"https://github.com/opendilab/InterFuser","reach":null}],"summary":{"ran_fixture":1},"by_repo_kind":{"official":{"samples":1,"ran":1,"repositories":1}},"repo_kind_vocabulary":{"official":"The archive marks this repository official for the paper","named_in_paper":"The archive records that the paper mentions this repository; it is not marked official","listed":"In the archive's code links for this paper, not marked official and not recorded as mentioned in the paper","found_in_text":"Syntology found this repository in the paper's own text; whether it is the authors' implementation is not asserted","community":"Not in the archive's code links for this paper; a community repository Syntology harvested"},"n_pointer_only_for_licence":0,"samples":[{"code_sha256_prefix":"d23a05a77b75ee53","entry":"build_attn_mask","repo":"opendilab/InterFuser","repo_kind":"official","path":"interfuser/timm/models/interfuser.py","file_url":"https://github.com/opendilab/InterFuser/blob/HEAD/interfuser/timm/models/interfuser.py","link_basis":"first_harvest_node","language":"python","status":"ran_fixture","verification_level":1,"contract_check":"RAISES","metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"Apache-2.0","inline_ok":true,"mcp_get_code":{"code_sha256":"d23a05a77b75ee53"}}]},"arxiv_metadata":null,"syntology_extracted_results":null}