相关论文: VLM-MPC: Vision Language Foundation Model (VLM)-Gu…

Model Predictive Control (MPC) is a widely adopted control paradigm that leverages predictive models to estimate future system states and optimize control inputs accordingly. However, while MPC excels in planning and control, it lacks the…

Although Model Predictive Control (MPC) can effectively predict the future states of a system and thus is widely used in robotic manipulation tasks, it does not have the capability of environmental perception, leading to the failure in some…

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…

Scene understanding and risk-aware attentions are crucial for human drivers to make safe and effective driving decisions. To imitate this cognitive ability in urban autonomous driving while ensuring the transparency and interpretability, we…

Personalized driving refers to an autonomous vehicle's ability to adapt its driving behavior or control strategies to match individual users' preferences and driving styles while maintaining safety and comfort standards. However, existing…

Autonomous driving is a complex and challenging task that aims at safe motion planning through scene understanding and reasoning. While vision-only autonomous driving methods have recently achieved notable performance, through enhanced…

Autonomous driving systems depend on on models that can reason about high-level scene contexts and accurately predict the dynamics of their surrounding environment. Vision- Language Models (VLMs) have recently emerged as promising tools for…

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…

In this paper, we introduce VisioPath, a novel framework combining vision-language models (VLMs) with model predictive control (MPC) to enable safe autonomous driving in dynamic traffic environments. The proposed approach leverages a…

Model Predictive Control (MPC) is a powerful control strategy widely utilized in domains like energy management, building control, and autonomous systems. However, its effectiveness in real-world settings is challenged by the need to…

Autonomous driving systems often infer pedestrian yielding behavior from geometric and kinematic cues alone, limiting their ability to reason about visual scene context and age-dependent behavioral variability. This limitation can produce…

Recent advancements in open-source Visual Language Models (VLMs) such as LLaVA, Qwen-VL, and Llama have catalyzed extensive research on their integration with diverse systems. The internet-scale general knowledge encapsulated within these…

Driverless vehicles are complex systems operating in constantly changing environments. Automated driving is achieved by controlling the coupled longitudinal and lateral vehicle dynamics. Model predictive control is one of the most promising…

Vision-language models (VLMs) have recently emerged as powerful representation learning systems that align visual observations with natural language concepts, offering new opportunities for semantic reasoning in safety-critical autonomous…

A Learning Model Predictive Controller (LMPC) is presented and tailored to platooning and Connected Autonomous Vehicles (CAVs) applications. The proposed controller builds on previous work on nonlinear LMPC, adapting its architecture and…

Vision-Language Models (VLMs) and Multi-Modal Language models (MMLMs) have become prominent in autonomous driving research, as these models can provide interpretable textual reasoning and responses for end-to-end autonomous driving safety…

Recent advancements in Vision-Language Models (VLMs) have sparked interest in their use for autonomous driving, particularly in generating interpretable driving decisions through natural language. However, the assumption that VLMs…

In this paper, a learning based Model Predictive Control (MPC) using a low dimensional residual model is proposed for autonomous driving. One of the critical challenge in autonomous driving is the complexity of vehicle dynamics, which…

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…

Model Predictive Control (MPC) is a powerful technique to control nonlinear, multi-input multi-output systems subject to input and state constraints. It is now a standard tool for trajectory tracking control of automated vehicles. As such…