相关论文: Instruct Large Language Models to Drive like Human…

Behavior and motion planning play an important role in automated driving. Traditionally, behavior planners instruct local motion planners with predefined behaviors. Due to the high scene complexity in urban environments, unpredictable…

Large Language Models (LLMs) trained on extensive textual corpora have emerged as leading solutions for a broad array of Natural Language Processing (NLP) tasks. Despite their notable performance, these models are prone to certain…

Effective urban planning is crucial for enhancing residents' quality of life and ensuring societal stability, playing a pivotal role in the sustainable development of cities. Current planning methods heavily rely on human experts, which are…

Trajectory prediction serves as a critical functionality in autonomous driving, enabling the anticipation of future motion paths for traffic participants such as vehicles and pedestrians, which is essential for driving safety. Although…

Indoor navigation presents unique challenges due to complex layouts and the unavailability of GNSS signals. Existing solutions often struggle with contextual adaptation, and typically require dedicated hardware. In this work, we explore the…

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…

The ability of large language models (LLMs) to follow instructions is crucial to real-world applications. Despite recent advances, several studies have highlighted that LLMs struggle when faced with challenging instructions, especially…

The application of the Large Language Model (LLM) to robot action planning has been actively studied. The instructions given to the LLM by natural language may include ambiguity and lack of information depending on the task context. It is…

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…

Large Language Models (LLMs), AI models trained on massive text corpora with remarkable language understanding and generation capabilities, are transforming the field of Autonomous Driving (AD). As AD systems evolve from rule-based and…

Instruction tuning is now a widely adopted approach to aligning large multimodal models (LMMs) to follow human intent. It unifies the data format of vision-language tasks, enabling multi-task joint training. However, vision-language tasks…

Recent advances in Multi-modal Large Language Models (MLLMs), such as LLaVA-series models, are driven by massive machine-generated instruction-following data tuning. Such automatic instruction collection pipelines, however, inadvertently…

Large Language Models (LLMs) are increasingly embedded in applications, and people can shape model behavior by editing prompt instructions. Yet encoding subtle, domain-specific policies into prompts is challenging. Although this process…

In domains requiring intelligent agents to emulate plausible human-like behaviour, such as formative simulations, traditional techniques like behaviour trees encounter significant challenges. Large Language Models (LLMs), despite not always…

Efficient path planning in robotics, particularly within large-scale, complex environments, remains a significant hurdle. While Large Language Models (LLMs) offer strong reasoning capabilities, their high computational cost and limited…

Novice programmers benefit from timely, personalized support that addresses individual learning gaps, yet the availability of instructors and teaching assistants is inherently limited. Large language models (LLMs) present opportunities to…

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…

Instruction-grounded driving, where passenger language guides trajectory planning, requires vehicles to understand intent before motion. However, most prior instruction-following planners rely on simulation or fixed command vocabularies,…

With rapid advances in code generation, reasoning, and problem-solving, Large Language Models (LLMs) are increasingly applied in robotics. Most existing work focuses on high-level tasks such as task decomposition. A few studies have…

Instruction tuning -- supervised fine-tuning using instruction-response pairs -- is a key step in making pre-trained large language models (LLMs) instructable. Meanwhile, LLMs perform multitask learning during their pre-training, acquiring…