相关论文: Can Vehicle Motion Planning Generalize to Realisti…

The release of nuPlan marks a new era in vehicle motion planning research, offering the first large-scale real-world dataset and evaluation schemes requiring both precise short-term planning and long-horizon ego-forecasting. Existing…

In this work, we propose the world's first closed-loop ML-based planning benchmark for autonomous driving. While there is a growing body of ML-based motion planners, the lack of established datasets and metrics has limited the progress in…

Machine Learning (ML) has replaced traditional handcrafted methods for perception and prediction in autonomous vehicles. Yet for the equally important planning task, the adoption of ML-based techniques is slow. We present nuPlan, the…

Although planning is a crucial component of the autonomous driving stack, researchers have yet to develop robust planning algorithms that are capable of safely handling the diverse range of possible driving scenarios. Learning-based…

Recent advances in closed-loop planning benchmarks have significantly improved the evaluation of autonomous vehicles. However, existing benchmarks still rely on rule-based reactive agents such as the Intelligent Driver Model (IDM), which…

Planner evaluation in closed-loop simulation often uses rule-based traffic agents, whose simplistic and passive behavior can hide planner deficiencies and bias rankings. Widely used IDM agents simply follow a lead vehicle and cannot react…

Integrating large language models (LLMs) into autonomous driving motion planning has recently emerged as a promising direction, offering enhanced interpretability, better controllability, and improved generalization in rare and long-tail…

Motion planning is crucial for safe navigation in complex urban environments. Historically, motion planners (MPs) have been evaluated with procedurally-generated simulators like CARLA. However, such synthetic benchmarks do not capture…

Despite real-time planners exhibiting remarkable performance in autonomous driving, the growing exploration of Large Language Models (LLMs) has opened avenues for enhancing the interpretability and controllability of motion planning.…

Recent advances in autonomous driving research towards motion planners that are robust, safe, and adaptive. However, existing rule-based and data-driven planners lack adaptability to long-tail scenarios, while knowledge-driven methods offer…

In recent years, imitation-based driving planners have reported considerable success. However, due to the absence of a standardized benchmark, the effectiveness of various designs remains unclear. The newly released nuPlan addresses this…

Vehicle motion planning is an essential component of autonomous driving technology. Current rule-based vehicle motion planning methods perform satisfactorily in common scenarios but struggle to generalize to long-tailed situations.…

Motion planning in complex scenarios is a core challenge in autonomous driving. Conventional methods apply predefined rules or learn from driving data to generate trajectories, while recent approaches leverage large language models (LLMs)…

Traditional autonomous driving methods adopt a modular design, decomposing tasks into sub-tasks. In contrast, end-to-end autonomous driving directly outputs actions from raw sensor data, avoiding error accumulation. However, training an…

Modern autonomous driving systems are typically divided into three main tasks: perception, prediction, and planning. The planning task involves predicting the trajectory of the ego vehicle based on inputs from both internal intention and…

With the release of open source datasets such as nuPlan and Argoverse, the research around learning-based planners has spread a lot in the last years. Existing systems have shown excellent capabilities in imitating the human driver…

Motion planning in complex scenarios is the core challenge in autonomous driving. Conventional methods apply predefined rules or learn from driving data to plan the future trajectory. Recent methods seek the knowledge preserved in large…

Due to the powerful vision-language reasoning and generalization abilities, multimodal large language models (MLLMs) have garnered significant attention in the field of end-to-end (E2E) autonomous driving. However, their application to…

While the capabilities of autonomous driving have advanced rapidly, merging into dense traffic remains a significant challenge, many motion planning methods for this scenario have been proposed but it is hard to evaluate them. Most existing…

As large language models (LLMs) increasingly integrate into vehicle navigation systems, understanding their path-planning capability is crucial. We tested three LLMs through six real-world path-planning scenarios in various settings and…