HMAD: Advancing E2E Driving with Anchored Offset Proposals and Simulation-Supervised Multi-target Scoring. - Bin Wang; Pingjun Li; Jinkun Liu; Jun Cheng; Hailong Lei; Yinze Rong; Huan-ang Gao; Kangliang Chen; Xing Pan; Weihao Gu (CoRR, 2025)