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

Emerging generative world models and vision-language-action (VLA) systems are rapidly reshaping automated driving by enabling scalable simulation, long-horizon forecasting, and capability-rich decision making. Across these directions,…

Structured reasoning over natural language inputs remains a core challenge in artificial intelligence, as it requires bridging the gap between unstructured linguistic expressions and formal logical representations. In this paper, we propose…

This study addresses the critical need for enhanced situational awareness in autonomous driving (AD) by leveraging the contextual reasoning capabilities of large language models (LLMs). Unlike traditional perception systems that rely on…

The future of autonomous vehicles lies in the convergence of human-centric design and advanced AI capabilities. Autonomous vehicles of the future will not only transport passengers but also interact and adapt to their desires, making the…

In hybrid traffic environments where human-driven vehicles (HDVs) and autonomous vehicles (AVs) coexist, achieving safe and robust decision-making for AV platooning remains a complex challenge. Existing platooning systems often struggle…

The integration of Large Language Models (LLMs) into robotics has unlocked unprecedented capabilities in high-level task planning. However, most current systems operate in an open-loop fashion, where LLMs act as one-shot planners, rendering…

Autonomous driving demands safe motion planning, especially in critical "long-tail" scenarios. Recent end-to-end autonomous driving systems leverage large language models (LLMs) as planners to improve generalizability to rare events.…

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…

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…

Autonomous driving systems remain brittle in rare, ambiguous, and out-of-distribution scenarios, where human driver succeed through contextual reasoning. Shared autonomy has emerged as a promising approach to mitigate such failures by…

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…

End-to-end autonomous driving has made impressive progress in recent years. Existing methods usually adopt the decoupled encoder-decoder paradigm, where the encoder extracts hidden features from raw sensor data, and the decoder outputs the…

While Large Language Models (LLMs) provide semantic flexibility for robotic task planning, their susceptibility to hallucination and logical inconsistency limits their reliability in long-horizon domains. To bridge the gap between…

A primary hurdle of autonomous driving in urban environments is understanding complex and long-tail scenarios, such as challenging road conditions and delicate human behaviors. We introduce DriveVLM, an autonomous driving system leveraging…

Traditional autonomous driving systems often struggle with reasoning in complex, unexpected scenarios due to limited comprehension of spatial relationships. In response, this study introduces a Large Language Model (LLM)-based Autonomous…

Autonomous navigation guided by natural language instructions is essential for improving human-robot interaction and enabling complex operations in dynamic environments. While large language models (LLMs) are not inherently designed for…

Integrating large language models (LLMs) in autonomous vehicles enables conversation with AI systems to drive the vehicle. However, it also emphasizes the requirement for such systems to comprehend commands accurately and achieve…

Traditional autonomous driving systems often struggle to connect high-level reasoning with low-level control, leading to suboptimal and sometimes unsafe behaviors. Recent advances in multimodal large language models (MLLMs), which process…

Humanoid robots are increasingly demanded to operate in interactive and human-surrounded environments while achieving sophisticated locomotion and manipulation tasks. To accomplish these tasks, roboticists unremittingly seek for advanced…

In this paper, a human-like driving framework is designed for autonomous vehicles (AVs), which aims to make AVs better integrate into the transportation ecology of human driving and eliminate the misunderstanding and incompatibility of…