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Valeo AI

organization1 mentionslast seen Oct 21, 2026

Organization that published TOAD code and project page.

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Valeo AIdevelopsTest-Time Trajectory Optimization for Autonomous Driving85% confidence1 source

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Valeo AIdevelopsTest-Time Trajectory Optimization for Autonomous Driving

85% confidence1 supporting mentions

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preprintarXivOct 20, 2026Test-Time Trajectory Optimization for Autonomous Driving
Our method, TOAD, runs the Cross-Entropy Method at test time, warm-started from the planner's proposals. It requires no retraining and is plug-and-play for existing planners. Across seven base planners, TOAD improves results on NAVSIM-v1 (94.7 PDMS), NAVSIM-v2 (56.3 EPDMS), and the closed-loop HUGSIM benchmark. The code is made publicly available via the project page: https://valeoai.github.io/TOAD/.