相关论文: End-to-End Autonomous Driving without Costly Modul…

Vision-language-action (VLA) models are effective as end-to-end motion planners, but can be brittle when evaluated in closed-loop settings due to being trained under traditional imitation learning framework. Existing closed-loop supervision…

Robust 3D occupancy prediction is essential for autonomous driving, particularly under adverse weather conditions where traditional vision-only systems struggle. While the fusion of surround-view 4D radar and cameras offers a promising…

Recently, two-stage fine-tuning strategies, e.g., acquiring essential driving knowledge through supervised fine-tuning (SFT) and further enhancing decision-making and planning via reinforcement fine-tuning (RFT), have shown strong potential…

While autonomous driving technology has made remarkable strides, data-driven approaches still struggle with complex scenarios due to their limited reasoning capabilities. Meanwhile, knowledge-driven autonomous driving systems have evolved…

End-to-end autonomous driving systems map sensor data directly to control commands, but remain opaque, lack interpretability, and offer no formal safety guarantees. While recent vision-language-guided reinforcement learning (RL) methods…

Although unsupervised domain adaptation methods have achieved remarkable performance in semantic scene segmentation in visual perception for self-driving cars, these approaches remain impractical in real-world use cases. In practice, the…

We introduce EMMA, an End-to-end Multimodal Model for Autonomous driving. Built upon a multi-modal large language model foundation like Gemini, EMMA directly maps raw camera sensor data into various driving-specific outputs, including…

We present ONCE-3DLanes, a real-world autonomous driving dataset with lane layout annotation in 3D space. Conventional 2D lane detection from a monocular image yields poor performance of following planning and control tasks in autonomous…

Autonomous vehicles (AVs) are transforming modern transportation, but their reliability and safety are significantly challenged by harsh weather conditions such as heavy rain, fog, and snow. These environmental factors impair the…

Autonomous driving systems face the formidable challenge of navigating intricate and dynamic environments with uncertainty. This study presents a unified prediction and planning framework that concurrently models short-term aleatoric…

Optical sensors and learning algorithms for autonomous vehicles have dramatically advanced in the past few years. Nonetheless, the reliability of today's autonomous vehicles is hindered by the limited line-of-sight sensing capability and…

End-to-end task-oriented dialogue (TOD) systems have achieved promising performance by leveraging sophisticated natural language understanding and natural language generation capabilities of pre-trained models. This work enables the TOD…

The autonomous driving community has witnessed a rapid growth in approaches that embrace an end-to-end algorithm framework, utilizing raw sensor input to generate vehicle motion plans, instead of concentrating on individual tasks such as…

End-to-end vision-based imitation learning has demonstrated promising results in autonomous driving by learning control commands directly from expert demonstrations. However, traditional approaches rely on either regressionbased models,…

This work investigates the integration of spatially aligned aerial imagery into perception tasks for automated vehicles (AVs). As a central contribution, we present AID4AD, a publicly available dataset that augments the nuScenes dataset…

Vision-centric autonomous driving has demonstrated excellent performance with economical sensors. As the fundamental step, 3D perception aims to infer 3D information from 2D images based on 3D-2D projection. This makes driving perception…

Integrating vision-language models (VLMs) into end-to-end (E2E) autonomous driving (AD) systems has shown promise in improving scene understanding. However, existing integration strategies suffer from several limitations: they either…

Autonomous driving involves complex tasks such as data fusion, object and lane detection, behavior prediction, and path planning. As opposed to the modular approach which dedicates individual subsystems to tackle each of those tasks, the…

End-to-end planning methods are the de facto standard of the current autonomous driving system, while the robustness of the data-driven approaches suffers due to the notorious long-tail problem (i.e., rare but safety-critical failure…

A crucial component of an autonomous vehicle (AV) is the artificial intelligence (AI) is able to drive towards a desired destination. Today, there are different paradigms addressing the development of AI drivers. On the one hand, we find…