Taiyu Ban

Taiyu Ban, Lyuzhou Chen, Derui Lyu et al.

Recovering the structure of causal graphical models from observational data is an essential yet challenging task for causal discovery in scientific scenarios. Domain-specific causal discovery usually relies on expert validation or prior analysis to improve the reliability of recovered causality, which is yet limited by the scarcity of expert resources. Recently, Large Language Models (LLM) have been used for causal analysis across various domain-specific scenarios, suggesting its potential as autonomous expert roles in guiding data-based structure learning. However, integrating LLMs into causal discovery faces challenges due to inaccuracies in LLM-based reasoning on revealing the actual causal structure. To address this challenge, we propose an error-tolerant LLM-driven causal discovery framework. The error-tolerant mechanism is designed three-fold with sufficient consideration on potential inaccuracies. In the LLM-based reasoning process, an accuracy-oriented prompting strategy restricts causal analysis to a reliable range. Next, a knowledge-to-structure transition aligns LLM-derived causal statements with structural causal interactions. In the structure learning process, the goodness-of-fit to data and adherence to LLM-derived priors are balanced to further address prior inaccuracies. Evaluation of eight real-world causal structures demonstrates the efficacy of our LLM-driven approach in improving data-based causal discovery, along with its robustness to inaccurate LLM-derived priors. Codes are available at https://github.com/tyMadara/LLM-CD.

Taiyu Ban, Lyuzhou Chen, Derui Lyu et al.

Causal discovery from observational data is pivotal for deciphering complex relationships. Causal Structure Learning (CSL), which focuses on deriving causal Directed Acyclic Graphs (DAGs) from data, faces challenges due to vast DAG spaces and data sparsity. The integration of Large Language Models (LLMs), recognized for their causal reasoning capabilities, offers a promising direction to enhance CSL by infusing it with knowledge-based causal inferences. However, existing approaches utilizing LLMs for CSL have encountered issues, including unreliable constraints from imperfect LLM inferences and the computational intensity of full pairwise variable analyses. In response, we introduce the Iterative LLM Supervised CSL (ILS-CSL) framework. ILS-CSL innovatively integrates LLM-based causal inference with CSL in an iterative process, refining the causal DAG using feedback from LLMs. This method not only utilizes LLM resources more efficiently but also generates more robust and high-quality structural constraints compared to previous methodologies. Our comprehensive evaluation across eight real-world datasets demonstrates ILS-CSL's superior performance, setting a new standard in CSL efficacy and showcasing its potential to significantly advance the field of causal discovery. The codes are available at \url{https://github.com/tyMadara/ILS-CSL}.

Jianbo Zhao, Jiaheng Zhuang, Qibin Zhou et al.

Trajectory generation is a pivotal task in autonomous driving. Recent studies have introduced the autoregressive paradigm, leveraging the state transition model to approximate future trajectory distributions. This paradigm closely mirrors the real-world trajectory generation process and has achieved notable success. However, its potential is limited by the ineffective representation of realistic trajectories within the redundant state space. To address this limitation, we propose the Kinematic-Driven Generative Model for Realistic Agent Simulation (KiGRAS). Instead of modeling in the state space, KiGRAS factorizes the driving scene into action probability distributions at each time step, providing a compact space to represent realistic driving patterns. By establishing physical causality from actions (cause) to trajectories (effect) through the kinematic model, KiGRAS eliminates massive redundant trajectories. All states derived from actions in the cause space are constrained to be physically feasible. Furthermore, redundant trajectories representing identical action sequences are mapped to the same representation, reflecting their underlying actions. This approach significantly reduces task complexity and ensures physical feasibility. KiGRAS achieves state-of-the-art performance in Waymo's SimAgents Challenge, ranking first on the WOMD leaderboard with significantly fewer parameters than other models. The video documentation is available at \url{https://kigras-mach.github.io/KiGRAS/}.

Lyuzhou Chen, Taiyu Ban, Xiangyu Wang et al.

Causal structure learning (CSL), a prominent technique for encoding cause-and-effect relationships among variables, through Bayesian Networks (BNs). Although recovering causal structure solely from data is a challenge, the integration of prior knowledge, revealing partial structural truth, can markedly enhance learning quality. However, current methods based on prior knowledge exhibit limited resilience to errors in the prior, with hard constraint methods disregarding priors entirely, and soft constraints accepting priors based on a predetermined confidence level, which may require expert intervention. To address this issue, we propose a strategy resilient to edge-level prior errors for CSL, thereby minimizing human intervention. We classify prior errors into different types and provide their theoretical impact on the Structural Hamming Distance (SHD) under the presumption of sufficient data. Intriguingly, we discover and prove that the strong hazard of prior errors is associated with a unique acyclic closed structure, defined as ``quasi-circle''. Leveraging this insight, a post-hoc strategy is employed to identify the prior errors by its impact on the increment of ``quasi-circles''. Through empirical evaluation on both real and synthetic datasets, we demonstrate our strategy's robustness against prior errors. Specifically, we highlight its substantial ability to resist order-reversed errors while maintaining the majority of correct prior.

Jianbo Zhao, Taiyu Ban, Zhihao Liu et al.

Accurate and efficient modeling of agent interactions is essential for trajectory generation, the core of autonomous driving systems. Existing methods, scene-centric, agent-centric, and query-centric frameworks, each present distinct advantages and drawbacks, creating an impossible triangle among accuracy, computational time, and memory efficiency. To break this limitation, we propose Directional Rotary Position Embedding (DRoPE), a novel adaptation of Rotary Position Embedding (RoPE), originally developed in natural language processing. Unlike traditional relative position embedding (RPE), which introduces significant space complexity, RoPE efficiently encodes relative positions without explicitly increasing complexity but faces inherent limitations in handling angular information due to periodicity. DRoPE overcomes this limitation by introducing a uniform identity scalar into RoPE's 2D rotary transformation, aligning rotation angles with realistic agent headings to naturally encode relative angular information. We theoretically analyze DRoPE's correctness and efficiency, demonstrating its capability to simultaneously optimize trajectory generation accuracy, time complexity, and space complexity. Empirical evaluations compared with various state-of-the-art trajectory generation models, confirm DRoPE's good performance and significantly reduced space complexity, indicating both theoretical soundness and practical effectiveness. The video documentation is available at https://drope-traj.github.io/.

Jianbo Zhao, Taiyu Ban, Xiyang Wang et al.

Controllable trajectory generation guided by high-level semantic decisions, termed meta-actions, is crucial for autonomous driving systems. A significant limitation of existing frameworks is their reliance on invariant meta-actions assigned over fixed future time intervals, causing temporal misalignment with the actual behavior trajectories. This misalignment leads to irrelevant associations between the prescribed meta-actions and the resulting trajectories, disrupting task coherence and limiting model performance. To address this challenge, we introduce Autoregressive Meta-Actions, an approach integrated into autoregressive trajectory generation frameworks that provides a unified and precise definition for meta-action-conditioned trajectory prediction. Specifically, We decompose traditional long-interval meta-actions into frame-level meta-actions, enabling a sequential interplay between autoregressive meta-action prediction and meta-action-conditioned trajectory generation. This decomposition ensures strict alignment between each trajectory segment and its corresponding meta-action, achieving a consistent and unified task formulation across the entire trajectory span and significantly reducing complexity. Moreover, we propose a staged pre-training process to decouple the learning of basic motion dynamics from the integration of high-level decision control, which offers flexibility, stability, and modularity. Experimental results validate our framework's effectiveness, demonstrating improved trajectory adaptivity and responsiveness to dynamic decision-making scenarios. We provide the video document and dataset, which are available at https://arma-traj.github.io/.

Jianbo Zhao, Taiyu Ban, Xiangjie Li et al.

The inherent sequential modeling capabilities of autoregressive models make them a formidable baseline for end-to-end planning in autonomous driving. Nevertheless, their performance is constrained by a spatio-temporal misalignment, as the planner must condition future actions on past sensory data. This creates an inconsistent worldview, limiting the upper bound of performance for an otherwise powerful approach. To address this, we propose a Time-Invariant Spatial Alignment (TISA) module that learns to project initial environmental features into a consistent ego-centric frame for each future time step, effectively correcting the agent's worldview without explicit future scene prediction. In addition, we employ a kinematic action prediction head (i.e., acceleration and yaw rate) to ensure physically feasible trajectories. Finally, we introduce a multi-objective post-training stage using Direct Preference Optimization (DPO) to move beyond pure imitation. Our approach provides targeted feedback on specific driving behaviors, offering a more fine-grained learning signal than the single, overall objective used in standard DPO. Our model achieves a state-of-the-art 89.8 PDMS on the NAVSIM dataset among autoregressive models. The video document is available at https://tisa-dpo-e2e.github.io/.