相关论文: EMMA: End-to-End Multimodal Model for Autonomous D…

End-to-end autonomous driving has drawn tremendous attention recently. Many works focus on using modular deep neural networks to construct the end-to-end archi-tecture. However, whether using powerful large language models (LLM), especially…

Conventional end-to-end autonomous driving methods often rely on explicit global scene representations, which typically consist of 3D object detection, online mapping, and motion prediction. In contrast, human drivers selectively attend to…

Large Language Models (LLMs) have shown promise in the autonomous driving sector, particularly in generalization and interpretability. We introduce a unique object-level multimodal LLM architecture that merges vectorized numeric modalities…

Large Vision Language Models (LVLMs) have shown strong capabilities in understanding and analyzing visual scenes across various domains. However, in the context of autonomous driving, their limited comprehension of 3D environments restricts…

We introduce Latent-WAM, an efficient end-to-end autonomous driving framework that achieves strong trajectory planning through spatially-aware and dynamics-informed latent world representations. Existing world-model-based planners suffer…

Multi-modality image fusion is a technique that combines information from different sensors or modalities, enabling the fused image to retain complementary features from each modality, such as functional highlights and texture details.…

As the prevalence of wearable devices, learning egocentric motions becomes essential to develop contextual AI. In this work, we present EgoLM, a versatile framework that tracks and understands egocentric motions from multi-modal inputs,…

End-to-end autonomous driving increasingly leverages self-supervised video pretraining to learn transferable planning representations. However, pretraining video world models for scene understanding has so far brought only limited…

End-to-end style autonomous driving models have been developed recently. These models lack interpretability of decision-making process from perception to control of the ego vehicle, resulting in anxiety for passengers. To alleviate it, it…

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…

We investigate the use of natural language to drive the generalization of control policies and introduce the new multi-task environment Messenger with free-form text manuals describing the environment dynamics. Unlike previous work,…

The generalization of vision-language-action (VLA) models heavily relies on diverse training data. However, acquiring large-scale data for robot manipulation across varied object appearances is costly and labor-intensive. To address this…

Current end-to-end autonomous driving methods typically learn only from expert planning data collected from a single ego vehicle, severely limiting the diversity of learnable driving policies and scenarios. However, a critical yet…

The rise of multi-modal large language models(MLLMs) has spurred their applications in autonomous driving. Recent MLLM-based methods perform action by learning a direct mapping from perception to action, neglecting the dynamics of the world…

Large language models (LLMs) as autonomous agents offer a novel avenue for tackling real-world challenges through a knowledge-driven manner. These LLM-enhanced methodologies excel in generalization and interpretability. However, the…

We introduce the Efficient Monotonic Multihead Attention (EMMA), a state-of-the-art simultaneous translation model with numerically-stable and unbiased monotonic alignment estimation. In addition, we present improved training and inference…

End-to-end autonomous driving has advanced significantly, offering benefits such as system simplicity and stronger driving performance in both open-loop and closed-loop settings than conventional pipelines. However, existing frameworks…

Recent advancements in image generation have enabled the creation of high-quality images from text conditions. However, when facing multi-modal conditions, such as text combined with reference appearances, existing methods struggle to…

In recent years, vision-based end-to-end autonomous driving has emerged as a new paradigm. However, popular end-to-end approaches typically rely on visual feature extraction networks trained under label supervision. This limited supervision…

Recent advancements in Vision-Language-Action (VLA) models have shown promise for end-to-end autonomous driving by leveraging world knowledge and reasoning capabilities. However, current VLA models often struggle with physically infeasible…