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Recent large language models (LLMs) are promising for making decisions in grounded environments. However, LLMs frequently fail in complex decision-making tasks due to the misalignment between the pre-trained knowledge in LLMs and the actual…

Simulation is an invaluable tool for developing and evaluating controllers for self-driving cars. Current simulation frameworks are driven by highly-specialist domain specific languages, and so a natural language interface would greatly…

This study addresses the critical need for enhanced situational awareness in autonomous driving (AD) by leveraging the contextual reasoning capabilities of large language models (LLMs). Unlike traditional perception systems that rely on…

Large language models (LLMs) have opened up new possibilities for intelligent agents, endowing them with human-like thinking and cognitive abilities. In this work, we delve into the potential of large language models (LLMs) in autonomous…

Real-world path planning tasks typically involve multiple constraints beyond simple route optimization, such as the number of routes, maximum route length, depot locations, and task-specific requirements. Traditional approaches rely on…

Traditional autonomous driving systems often struggle with reasoning in complex, unexpected scenarios due to limited comprehension of spatial relationships. In response, this study introduces a Large Language Model (LLM)-based Autonomous…

Leveraging advanced reasoning capabilities and extensive world knowledge of large language models (LLMs) to construct generative agents for solving complex real-world problems is a major trend. However, LLMs inherently lack embodiment as…

Various methods have been proposed for utilizing Large Language Models (LLMs) in autonomous driving. One strategy of using LLMs for autonomous driving involves inputting surrounding objects as text prompts to the LLMs, along with their…

Instruction-tuned large language models (LLMs) are capable of generating stories in response to open-ended user requests, but the resulting stories tend to be limited in their diversity. Older, symbolic approaches to story generation (such…

Large Language Models (LLM) based agents have shown promise in autonomously completing tasks across various domains, e.g., robotics, games, and web navigation. However, these agents typically require elaborate design and expert prompts to…

Recently, LLM-powered driver agents have demonstrated considerable potential in the field of autonomous driving, showcasing human-like reasoning and decision-making abilities.However, current research on aligning driver agent behaviors with…

Rule-based adaptation is a foundational approach to self-adaptation, characterized by its human readability and rapid response. However, building high-performance and robust adaptation rules is often a challenge because it essentially…

Large Language Models (LLM) have emerged as a tool for robots to generate task plans using common sense reasoning. For the LLM to generate actionable plans, scene context must be provided, often through a map. Recent works have shifted from…

Efforts have been made to make machines converse like humans in the past few decades. The recent techniques of Large Language Models (LLMs) make it possible to have human-like conversations with machines, but LLM's flaws of lacking…

Since DARPA Grand Challenges (rural) in 2004/05 and Urban Challenges in 2007, autonomous driving has been the most active field of AI applications. Recently powered by large language models (LLMs), chat systems, such as chatGPT and PaLM,…

Applying reinforcement learning (RL) to real-world tasks requires converting informal descriptions into a formal Markov decision process (MDP), implementing an executable environment, and training a policy agent. Automating this process is…

With rapid advances in code generation, reasoning, and problem-solving, Large Language Models (LLMs) are increasingly applied in robotics. Most existing work focuses on high-level tasks such as task decomposition. A few studies have…

Recent advancements in Large Language Models (LLMs) offer new opportunities to create natural language interfaces for Autonomous Driving Systems (ADSs), moving beyond rigid inputs. This paper addresses the challenge of mapping the…

Autonomous Vehicles (AVs) must make reliable decisions in dense urban environments where pedestrian behavior is variable, sometimes abnormal, and often unseen during training. Reinforcement learning (RL)-based AV control systems perform…

Real-world autonomous driving must adhere to complex human social rules that extend beyond legally codified traffic regulations. Many of these semantic constraints, such as yielding to emergency vehicles, complying with traffic officers'…