相关论文: DualAD: Dual-Layer Planning for Reasoning in Auton…

The emergence of general human knowledge and impressive logical reasoning capacity in rapidly progressed vision-language models (VLMs) have driven increasing interest in applying VLMs to high-level autonomous driving tasks, such as scene…

Human drivers rely on commonsense reasoning to navigate diverse and dynamic real-world scenarios. Existing end-to-end (E2E) autonomous driving (AD) models are typically optimized to mimic driving patterns observed in data, without capturing…

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…

Data-driven approaches for autonomous driving (AD) have been widely adopted in the past decade but are confronted with dataset bias and uninterpretability. Inspired by the knowledge-driven nature of human driving, recent approaches explore…

Large vision-language models (VLMs) have shown promising capabilities in scene understanding, enhancing the explainability of driving behaviors and interactivity with users. Existing methods primarily fine-tune VLMs on on-board multi-view…

End-to-end autonomous driving systems built on Vision Language Models (VLMs) have shown significant promise, yet their reliance on autoregressive architectures introduces some limitations for real-world applications. The sequential,…

While end-to-end autonomous driving has advanced significantly, prevailing methods remain fundamentally misaligned with human cognitive principles in both perception and planning. In this paper, we propose CogAD, a novel end-to-end…

Autonomous driving requires generating safe and reliable trajectories from complex multimodal inputs. Traditional modular pipelines separate perception, prediction, and planning, while recent end-to-end (E2E) systems learn them jointly.…

Autonomous driving has a natural bi-level structure. The goal of the upper behavioural layer is to provide appropriate lane change, speeding up, and braking decisions to optimize a given driving task. However, this layer can only indirectly…

Human-level driving is an ultimate goal of autonomous driving. Conventional approaches formulate autonomous driving as a perception-prediction-planning framework, yet their systems do not capitalize on the inherent reasoning ability and…

Large language models (LLMs) have opened up new possibilities for intelligent agents, endowing them with human-like thinking and cognitive abilities. In this work, we delve into the potential of large language models (LLMs) in autonomous…

Large Language Models (LLMs) have garnered significant attention for their ability to understand text and images, generate human-like text, and perform complex reasoning tasks. However, their ability to generalize this advanced reasoning…

Enabling humanoid robots to perform autonomously loco-manipulation in unstructured environments is crucial and highly challenging for achieving embodied intelligence. This involves robots being able to plan their actions and behaviors in…

We introduce DriveAgent, a novel multi-agent autonomous driving framework that leverages large language model (LLM) reasoning combined with multimodal sensor fusion to enhance situational understanding and decision-making. DriveAgent…

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…

The fusion of human-centric design and artificial intelligence (AI) capabilities has opened up new possibilities for next-generation autonomous vehicles that go beyond transportation. These vehicles can dynamically interact with passengers…

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…

Autonomous driving requires reasoning about how the environment evolves and planning actions accordingly. Existing world-model-based approaches typically predict future scenes first and plan afterwards, resulting in open-loop imagination…

Large language model (LLM) agents often rely on external demonstrations or retrieval-augmented planning, leading to brittleness, poor generalization, and high computational overhead. Inspired by human problem-solving, we propose DuSAR…

Although planning is a crucial component of the autonomous driving stack, researchers have yet to develop robust planning algorithms that are capable of safely handling the diverse range of possible driving scenarios. Learning-based…