相关论文: ADriver-I: A General World Model for Autonomous Dr…

Multi-modal fusion is a fundamental task for the perception of an autonomous driving system, which has recently intrigued many researchers. However, achieving a rather good performance is not an easy task due to the noisy raw data,…

Large vision-language models (VLMs) for autonomous driving (AD) are evolving beyond perception and cognition tasks toward motion planning. However, we identify two critical challenges in this direction: (1) VLMs tend to learn shortcuts by…

While large multimodal models (LMMs) have demonstrated strong performance across various Visual Question Answering (VQA) tasks, certain challenges require complex multi-step reasoning to reach accurate answers. One particularly challenging…

Traffic safety remains a critical global challenge, with traditional Advanced Driver-Assistance Systems (ADAS) often struggling in dynamic real-world scenarios due to fragmented sensor processing and susceptibility to adversarial…

Ensuring safe interactions between autonomous vehicles (AVs) and human drivers in mixed traffic systems remains a major challenge, particularly in complex, high-risk scenarios. This paper presents a cognition-decision framework that…

Autonomous driving systems struggle with complex scenarios due to limited access to diverse, extensive, and out-of-distribution driving data which are critical for safe navigation. World models offer a promising solution to this challenge;…

The well-established modular autonomous driving system is decoupled into different standalone tasks, e.g. perception, prediction and planning, suffering from information loss and error accumulation across modules. In contrast, end-to-end…

Autonomous intersection management (AIM) poses significant challenges due to the intricate nature of real-world traffic scenarios and the need for a highly expensive centralised server in charge of simultaneously controlling all the…

As the advent of artificial general intelligence (AGI) progresses at a breathtaking pace, the application of large language models (LLMs) as AI Agents in robotics remains in its nascent stage. A significant concern that hampers the seamless…

Driving World Models (DWMs) have been developing rapidly with the advances of generative models. However, existing DWMs lack 3D scene understanding capabilities and can only generate content conditioned on input data, without the ability to…

Vision-Language-Action (VLA) models have recently shown strong decision-making capabilities in autonomous driving. However, existing VLAs often struggle with achieving efficient inference and generalizing to novel autonomous vehicle…

Reliable forecasting of the future behavior of road agents is a critical component to safe planning in autonomous vehicles. Here, we represent continuous trajectories as sequences of discrete motion tokens and cast multi-agent motion…

Large Language Models (LLMs) have shown promise in the autonomous driving sector, particularly in generalization and interpretability. We introduce a unique object-level multimodal LLM architecture that merges vectorized numeric modalities…

Current autonomous driving vehicles rely mainly on their individual sensors to understand surrounding scenes and plan for future trajectories, which can be unreliable when the sensors are malfunctioning or occluded. To address this problem,…

Vision-Language Models (VLMs) have recently emerged as a promising paradigm in autonomous driving (AD). However, current performance evaluation protocols for VLM-based AD systems (ADVLMs) are predominantly confined to open-loop settings…

In recent years, we have witnessed significant progress in emerging deep learning models, particularly Large Language Models (LLMs) and Vision-Language Models (VLMs). These models have demonstrated promising results, indicating a new era of…

Differentiable simulators represent an environment's dynamics as a differentiable function. Within robotics and autonomous driving, this property is used in Analytic Policy Gradients (APG), which relies on backpropagating through the…

The advent of Vision-Language Models (VLMs) has significantly advanced end-to-end autonomous driving, demonstrating powerful reasoning abilities for high-level behavior planning tasks. However, existing methods are often constrained by a…

The integration of large language models (LLMs) into robotic systems has accelerated progress in embodied artificial intelligence, yet current approaches remain constrained by existing robotic architectures, particularly serial mechanisms.…

Autonomous driving systems require comprehensive evaluation in safety-critical scenarios to ensure safety and robustness. However, such scenarios are rare and difficult to collect from real-world driving data, necessitating simulation-based…