We present DriveGPT, a scalable behavior model for autonomous driving. We model driving as a sequential decision making task, and learn a transformer model to predict future agent states as tokens in an autoregressive fashion. We scale up our model parameters and training data by multiple orders of magnitude, enabling us to explore the scaling properties in terms of dataset size, model parameters, and compute. We evaluate DriveGPT across different scales in a planning task, through both quantitative metrics and qualitative examples including closed-loop driving in complex real-world scenarios. In a separate prediction task, DriveGPT outperforms a state-of-the-art baseline and exhibits improved performance by pretraining on a large-scale dataset, further validating the benefits of data scaling.

Modern classification tasks usually involve many class labels and can be informed by a broad range of features. Many of these tasks are tackled by constructing a set of classifiers, which are then applied at test time and then pieced together in a fixed procedure determined in advance or at training time. We present an active classification process at the test time, where each classifier in a large ensemble is viewed as a potential observation that might inform our classification process. Observations are then selected dynamically based on previous observations, using a value-theoretic computation that balances an estimate of the expected classification gain from each observation as well as its computational cost. The expected classification gain is computed using a probabilistic model that uses the outcome from previous observations. This active classification process is applied at test time for each individual test instance, resulting in an efficient instance-specific decision path. We demonstrate the benefit of the active scheme on various real-world datasets, and show that it can achieve comparable or even higher classification accuracy at a fraction of the computational costs of traditional methods.

Object detection and multi-class image segmentation are two closely related tasks that can be greatly improved when solved jointly by feeding information from one task to the other [10, 11]. However, current state-of-the-art models use a separate representation for each task making joint inference clumsy and leaving the classification of many parts of the scene ambiguous. In this work, we propose a hierarchical region-based approach to joint object detection and image segmentation. Our approach simultaneously reasons about pixels, regions and objects in a coherent probabilistic model. Pixel appearance features allow us to perform well on classifying amorphous background classes, while the explicit representation of regions facilitate the computation of more sophisticated featuresnecessary for object detection. Importantly, our model gives a single unified description of the scene--we explain every pixel in the image and enforce global consistency between all random variables in our model. We run experiments on the challenging Street Scene dataset [2] and show significant improvementover state-of-the-art results for object detection accuracy.