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

Visual-language models (VLMs) have recently been introduced in robotic mapping using the latent representations, i.e., embeddings, of the VLMs to represent semantics in the map. They allow moving from a limited set of human-created labels…

Medical vision-language models (Med-VLMs) have shown impressive results in tasks such as report generation and visual question answering, but they still face several limitations. Most notably, they underutilize patient metadata and lack…

Traffic light detection is crucial for environment perception and decision-making in autonomous driving. State-of-the-art detectors are built upon deep Convolutional Neural Networks (CNNs) and have exhibited promising performance. However,…

With the rapid advancement of autonomous driving, deploying Vision-Language Models (VLMs) to enhance perception and decision-making has become increasingly common. However, the real-time application of VLMs is hindered by high latency and…

This paper introduces Scene-LLM, a 3D-visual-language model that enhances embodied agents' abilities in interactive 3D indoor environments by integrating the reasoning strengths of Large Language Models (LLMs). Scene-LLM adopts a hybrid 3D…

Vision-language models (VLMs) serve as general-purpose end-to-end models in autonomous driving, performing subtasks such as prediction, planning, and perception through question-and-answer interactions. However, most existing methods rely…

Prior studies on 3D scene understanding have primarily developed specialized models for specific tasks or required task-specific fine-tuning. In this study, we propose Grounded 3D-LLM, which explores the potential of 3D large multi-modal…

Today's autonomous vehicles rely extensively on high-definition 3D maps to navigate the environment. While this approach works well when these maps are completely up-to-date, safe autonomous vehicles must be able to corroborate the map's…

End-to-end autonomous driving frameworks face persistent challenges in generalization, training efficiency, and interpretability. While recent methods leverage Vision-Language Models (VLMs) through supervised learning on large-scale…

While Vision-Language Models (VLMs) offer rich world knowledge for end-to-end autonomous driving, current approaches heavily rely on labor-intensive language annotations (e.g., VQA) to bridge perception and control. This paradigm suffers…

How to construct an interpretable autonomous driving decision-making system has become a focal point in academic research. In this study, we propose a novel approach that leverages large language models (LLMs) to generate executable,…

Recent advancements in language-grounded autonomous driving have been significantly promoted by the sophisticated cognition and reasoning capabilities of large language models (LLMs). However, current LLM-based approaches encounter critical…

Large language models (LLMs) have recently demonstrated strong reasoning capabilities and attracted increasing research attention in the field of autonomous driving (AD). However, safe application of LLMs on AD perception and prediction…

Vision-Language-Action (VLA) models have recently emerged in autonomous driving, with the promise of leveraging rich world knowledge to improve the cognitive capabilities of driving systems. However, adapting such models for driving tasks…

Autonomous driving requires a comprehensive understanding of the surrounding environment for reliable trajectory planning. Previous works rely on dense rasterized scene representation (e.g., agent occupancy and semantic map) to perform…

Vision-language models (VLMs) show promise for autonomous driving but often lack transparent reasoning capabilities that are critical for safety. We investigate whether explicitly modeling reasoning during fine-tuning enhances VLM…

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…

Recent advances in 3D vision-language models (VLMs) highlight a strong potential for 3D scene understanding and reasoning. However, effectively tokenizing 3D scenes into holistic scene tokens, and leveraging these tokens across diverse 3D…

With the broader adoption and highly successful development of Large Language Models (LLMs), there has been growing interest and demand for applying LLMs to autonomous driving technology. Driven by their natural language understanding and…

Vision-language models (VLMs) have significantly advanced autonomous driving (AD) by enhancing reasoning capabilities. However, these models remain highly vulnerable to adversarial attacks. While existing research has primarily focused on…