相关论文: HiLM-D: Enhancing MLLMs with Multi-Scale High-Reso…

Multimodal large language models (MLLMs) have shown satisfactory effects in many autonomous driving tasks. In this paper, MLLMs are utilized to solve joint semantic scene understanding and risk localization tasks, while only relying on…

Human drivers possess spatial and causal intelligence, enabling them to perceive driving scenarios, anticipate hazards, and react to dynamic environments. In contrast, autonomous vehicles lack these abilities, making it challenging to…

Traditional approaches to safety event analysis in autonomous systems have relied on complex machine learning models and extensive datasets for high accuracy and reliability. However, the advent of Multimodal Large Language Models (MLLMs)…

Detecting anomalous hazards in visual data, particularly in video streams, is a critical challenge in autonomous driving. Existing models often struggle with unpredictable, out-of-label hazards due to their reliance on predefined object…

Ensuring safe decision-making in autonomous vehicles remains a fundamental challenge despite rapid advances in end-to-end learning approaches. Traditional reinforcement learning (RL) methods rely on manually engineered rewards or sparse…

One of the current trends in robotics is to employ large language models (LLMs) to provide non-predefined command execution and natural human-robot interaction. It is useful to have an environment map together with its language…

Autonomous driving systems face significant challenges in handling unpredictable edge-case scenarios, such as adversarial pedestrian movements, dangerous vehicle maneuvers, and sudden environmental changes. Current end-to-end driving models…

Autonomous driving is a complex task which requires advanced decision making and control algorithms. Understanding the rationale behind the autonomous vehicles' decision is crucial to ensure their safe and effective operation on highway…

Vision-language models (VLMs) have recently emerged as powerful representation learning systems that align visual observations with natural language concepts, offering new opportunities for semantic reasoning in safety-critical autonomous…

A primary hurdle of autonomous driving in urban environments is understanding complex and long-tail scenarios, such as challenging road conditions and delicate human behaviors. We introduce DriveVLM, an autonomous driving system leveraging…

Large Vision Language Models (LVLMs) have shown strong capabilities in understanding and analyzing visual scenes across various domains. However, in the context of autonomous driving, their limited comprehension of 3D environments restricts…

In this paper, we propose a novel framework for enhancing visual comprehension in autonomous driving systems by integrating visual language models (VLMs) with additional visual perception module specialised in object detection. We extend…

Large vision-language models (VLMs) have shown promising capabilities in scene understanding, enhancing the explainability of driving behaviors and interactivity with users. Existing methods primarily fine-tune VLMs on on-board multi-view…

Although multi-modal large language models (MLLMs) have shown strong capabilities across diverse domains, their application in generating fine-grained 3D perception and prediction outputs in autonomous driving remains underexplored. In this…

Ensuring realistic traffic dynamics is a prerequisite for simulation platforms to evaluate the reliability of self-driving systems before deployment in the real world. Because most road users are human drivers, reproducing their diverse…

Integrating Large Language Models (LLMs) with Reinforcement Learning (RL) can enhance autonomous driving (AD) performance in complex scenarios. However, current LLM-Dominated RL methods over-rely on LLM outputs, which are prone to…

The visual commonsense reasoning (VCR) task is to choose an answer and provide a justifying rationale based on the given image and textural question. Representative works first recognize objects in images and then associate them with key…

Large-scale Vision Language Models (LVLMs) exhibit advanced capabilities in tasks that require visual information, including object detection. These capabilities have promising applications in various industrial domains, such as autonomous…

Comprehensive situational awareness is essential for autonomous vehicles operating in safety-critical environments, as it enables the identification and mitigation of potential risks. Although recent Multimodal Large Language Models (MLLMs)…

Recent advancements in autonomous driving (AD) have explored the use of vision-language models (VLMs) within visual question answering (VQA) frameworks for direct driving decision-making. However, these approaches often depend on…