相关论文: Is a 3D-Tokenized LLM the Key to Reliable Autonomo…

Recent advancements in vision foundation models (VFMs) have revolutionized visual perception in 2D, yet their potential for 3D scene understanding, particularly in autonomous driving applications, remains underexplored. In this paper, we…

Large vision-language models (VLMs) have garnered increasing interest in autonomous driving areas, due to their advanced capabilities in complex reasoning tasks essential for highly autonomous vehicle behavior. Despite their potential,…

Today's advanced automotive systems are turning into intelligent Cyber-Physical Systems (CPS), bringing computational intelligence to their cyber-physical context. Such systems power advanced driver assistance systems (ADAS) that observe a…

We present a novel high-level planning framework that leverages vision-language models (VLMs) to improve autonomous navigation in unknown indoor environments with many dead ends. Traditional exploration methods often take inefficient routes…

While Vision-Language Models (VLMs) are set to transform robotic navigation, existing methods often underutilize their reasoning capabilities. To unlock the full potential of VLMs in robotics, we shift their role from passive observers to…

Large language models (LLMs) and Vision-Language Models (VLMs) have been proven to excel at multiple tasks, such as commonsense reasoning. Powerful as these models can be, they are not grounded in the 3D physical world, which involves…

End-to-end autonomous driving demonstrates strong planning capabilities with large-scale data but still struggles in complex, rare scenarios due to limited commonsense. In contrast, Large Vision-Language Models (LVLMs) excel in scene…

Vision-Language Models (VLMs) have demonstrated notable promise in autonomous driving by offering the potential for multimodal reasoning through pretraining on extensive image-text pairs. However, adapting these models from broad web-scale…

While autonomous driving (AD) stacks struggle with decision making under partial observability and real-world complexity, human drivers are capable of applying commonsense reasoning to make near-optimal decisions with limited information.…

Previous research has investigated the application of Multimodal Large Language Models (MLLMs) in understanding 3D scenes by interpreting them as videos. These approaches generally depend on comprehensive 3D data inputs, such as point…

End-to-end autonomous driving has emerged as a promising approach to unify perception, prediction, and planning within a single framework, reducing information loss and improving adaptability. However, existing methods often rely on fixed…

Autonomous driving technology, a catalyst for revolutionizing transportation and urban mobility, has the tend to transition from rule-based systems to data-driven strategies. Traditional module-based systems are constrained by cumulative…

End-to-end autonomous driving (AD) systems increasingly adopt vision-language-action (VLA) models, yet they typically ignore the passenger's emotional state, which is central to comfort and AD acceptance. We introduce Open-Domain End-to-End…

This paper proposes a novel Large Vision-Language Model (LVLM) and Model Predictive Control (MPC) integration framework that delivers both task scalability and safety for Autonomous Driving (AD). LVLMs excel at high-level task planning…

Vision-Language Models (VLM) exhibit strong reasoning capabilities, showing promise for end-to-end autonomous driving systems. Chain-of-Thought (CoT), as VLM's widely used reasoning strategy, is facing critical challenges. Existing textual…

3D lane detection and topology reasoning are essential tasks in autonomous driving scenarios, requiring not only detecting the accurate 3D coordinates on lane lines, but also reasoning the relationship between lanes and traffic elements.…

In the field of autonomous driving, two important features of autonomous driving car systems are the explainability of decision logic and the accuracy of environmental perception. This paper introduces DME-Driver, a new autonomous driving…

This paper introduces VLMFusionOcc3D, a robust multimodal framework for dense 3D semantic occupancy prediction in autonomous driving. Current voxel-based occupancy models often struggle with semantic ambiguity in sparse geometric grids and…

Temporal understanding in autonomous driving (AD) remains a significant challenge, even for recent state-of-the-art (SoTA) Vision-Language Models (VLMs). Prior work has introduced datasets and benchmarks aimed at improving temporal…

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…