{"ID":2883670,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2508.07838","arxiv_id":"2508.07838","title":"CBDES MoE: Hierarchically Decoupled Mixture-of-Experts for Functional Modules in Autonomous Driving","abstract":"Bird's Eye View (BEV) perception systems based on multi-sensor feature fusion have become a fundamental cornerstone for end-to-end autonomous driving. However, existing multi-modal BEV methods commonly suffer from limited input adaptability, constrained modeling capacity, and suboptimal generalization. To address these challenges, we propose a hierarchically decoupled Mixture-of-Experts architecture at the functional module level, termed Computing Brain DEvelopment System Mixture-of-Experts (CBDES MoE). CBDES MoE integrates multiple structurally heterogeneous expert networks with a lightweight Self-Attention Router (SAR) gating mechanism, enabling dynamic expert path selection and sparse, input-aware efficient inference. To the best of our knowledge, this is the first modular Mixture-of-Experts framework constructed at the functional module granularity within the autonomous driving domain. Extensive evaluations on the real-world nuScenes dataset demonstrate that CBDES MoE consistently outperforms fixed single-expert baselines in 3D object detection. Compared to the strongest single-expert model, CBDES MoE achieves a 1.6-point increase in mAP and a 4.1-point improvement in NDS, demonstrating the effectiveness and practical advantages of the proposed approach.","short_abstract":"Bird's Eye View (BEV) perception systems based on multi-sensor feature fusion have become a fundamental cornerstone for end-to-end autonomous driving. However, existing multi-modal BEV methods commonly suffer from limited input adaptability, constrained modeling capacity, and suboptimal generalization. To address these...","url_abs":"https://arxiv.org/abs/2508.07838","url_pdf":"https://arxiv.org/pdf/2508.07838v1","authors":"[\"Qi Xiang\",\"Kunsong Shi\",\"Zhigui Lin\",\"Lei He\"]","published":"2025-08-11T10:44:25Z","proceeding":"cs.CV","tasks":"[\"cs.CV\"]","methods":"[]","has_code":false}