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

Autonomous racing has attracted significant attention recently, presenting challenges in selecting an optimal controller that operates within the onboard system's computational limits and meets operational constraints such as limited track…

For motion planning and control of autonomous vehicles to be proactive and safe, pedestrians' and other road users' motions must be considered. In this paper, we present a vehicle motion planning and control framework, based on Model…

Language models (LMs) and their extension, vision-language models (VLMs), have achieved remarkable performance across various tasks. However, they still struggle with complex reasoning tasks that require multimodal or multilingual…

Recent studies suggest that transformer-based vision-language models (VLMs) capture the multimodality of concept processing in the human brain. However, a systematic evaluation exploring different types of VLM architectures and the role…

A key challenge in training Vision-Language Model (VLM) agents, compared to Language Model (LLM) agents, lies in the shift from textual states to complex visual observations. This transition introduces partial observability and demands…

One major issue in learning-based model predictive control (MPC) for autonomous driving is the contradiction between the system model's prediction accuracy and computation efficiency. The more situations a system model covers, the more…

Recent advancements in prompting techniques for Large Language Models (LLMs) have improved their reasoning, planning, and action abilities. This paper examines these prompting techniques through the lens of model predictive control (MPC).…

We present Look-Back and Look-Ahead Adaptive Model Predictive Control (LLA-MPC), a real-time adaptive control framework for autonomous racing that addresses the challenge of rapidly changing tire-surface interactions. Unlike existing…

In control system networks, reconfiguration of the controller when agents are leaving or joining the network is still an open challenge, in particular when operation constraints that depend on each agent's behavior must be met. Drawing our…

For safe and efficient planning and control in autonomous driving, we need a driving policy which can achieve desirable driving quality in long-term horizon with guaranteed safety and feasibility. Optimization-based approaches, such as…

Accurate short-horizon trajectory prediction is crucial for safe and reliable autonomous driving. However, existing vision-language models (VLMs) often fail to accurately understand driving scenes and generate trustworthy trajectories. To…

Vision language models (VLMs) can simultaneously reason about images and texts to tackle many tasks, from visual question answering to image captioning. This paper focuses on map parsing, a novel task that is unexplored within the VLM…

Visuomotor control (VMC) is an effective means of achieving basic manipulation tasks such as pushing or pick-and-place from raw images. Conditioning VMC on desired goal states is a promising way of achieving versatile skill primitives.…

Aligning Large Language Models (LLMs) with human preferences through finetuning is resource-intensive, motivating lightweight alternatives at test time. We address test-time alignment through the lens of sequential decision making, a…

Autonomous driving systems face significant challenges in handling unpredictable edge-case scenarios, such as adversarial pedestrian movements, dangerous vehicle maneuvers, and sudden environmental changes. Current end-to-end driving models…

Multimodal Large Language Models (MLLMs) have demonstrated remarkable capabilities across a wide range of vision-language tasks. However, their performance as embodied agents, which requires multi-round dialogue spatial reasoning and…

Vision-Language Models (VLMs) have been integrated into autonomous driving systems to enhance reasoning capabilities through tasks such as Visual Question Answering (VQA). However, the robustness of these systems against backdoor attacks…

Predictive world models enable agents to model scene dynamics and reason about the consequences of their actions. Inspired by human perception, object-centric world models capture scene dynamics using object-level representations, which can…

Recent research looks to harness the general knowledge and reasoning of large language models (LLMs) into agents that accomplish user-specified goals in interactive environments. Vision-language models (VLMs) extend LLMs to multi-modal data…

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.…