相关论文: WiseAD: Knowledge Augmented End-to-End Autonomous …

Recent advances in autonomous driving research towards motion planners that are robust, safe, and adaptive. However, existing rule-based and data-driven planners lack adaptability to long-tail scenarios, while knowledge-driven methods offer…

With the widespread adoption and deployment of autonomous driving, handling complex environments has become an unavoidable challenge. Due to the scarcity and diversity of extreme scenario datasets, current autonomous driving models struggle…

End-to-end autonomous driving policies based on Imitation Learning (IL) often struggle in closed-loop execution due to the misalignment between inadequate open-loop training objectives and real driving requirements. While Reinforcement…

Vision-Language Models(VLMs) excel at autoregressive text generation, yet end-to-end autonomous driving requires multi-task learning with structured outputs and heterogeneous decoding behaviors, such as autoregressive language generation,…

Vision-Language-Action (VLA) models with integrated reasoning have been proposed for end-to-end autonomous driving, assuming a tight coupling between reasoning and trajectory generation. However, the robustness of such systems under…

Vision Language Models (VLMs) bridge visual perception and linguistic reasoning. In Autonomous Driving (AD), this synergy has enabled Vision Language Action (VLA) models, which translate high-level multimodal understanding into driving…

Deep learning architectures with powerful reasoning capabilities have driven significant advancements in autonomous driving technology. Large language models (LLMs) applied in this field can describe driving scenes and behaviors with a…

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…

Recent advancements in end-to-end autonomous driving systems (ADSs) underscore their potential for perception and planning capabilities. However, challenges remain. Complex driving scenarios contain rich semantic information, yet ambiguous…

The advent of Vision-Language Models (VLMs) has significantly advanced end-to-end autonomous driving, demonstrating powerful reasoning abilities for high-level behavior planning tasks. However, existing methods are often constrained by a…

We propose UAD, a method for vision-based end-to-end autonomous driving (E2EAD), achieving the best open-loop evaluation performance in nuScenes, meanwhile showing robust closed-loop driving quality in CARLA. Our motivation stems from the…

The integration of Vision-Language Models (VLMs) into autonomous driving promises to solve long-tail scenarios, but this paradigm faces the critical and unaddressed challenge of catastrophic forgetting. The very fine-tuning process used to…

End-to-end autonomous driving has achieved remarkable advancements in recent years. Existing methods primarily follow a perception-planning paradigm, where perception and planning are executed sequentially within a fully differentiable…

World models have become central to autonomous driving, where accurate scene understanding and future prediction are crucial for safe control. Recent work has explored using vision-language models (VLMs) for planning, yet existing…

Existing end-to-end autonomous driving (AD) algorithms typically follow the Imitation Learning (IL) paradigm, which faces challenges such as causal confusion and an open-loop gap. In this work, we propose RAD, a 3DGS-based closed-loop…

The evolution of autonomous driving towards full automation demands robust interactive capabilities; however, the development of Vision-Language-Action (VLA) models is constrained by the sparsity of interactive scenarios and inadequate…

Vision-Language-Action (VLA) models have recently shown strong decision-making capabilities in autonomous driving. However, existing VLAs often struggle with achieving efficient inference and generalizing to novel autonomous vehicle…

In this era of technological advancements, several cutting-edge techniques are being implemented to enhance Autonomous Driving (AD) systems, focusing on improving safety, efficiency, and adaptability in complex driving environments.…

A reliable driving assistant should provide consistent responses based on temporally grounded reasoning derived from observed information. In this work, we investigate whether Vision-Language Models (VLMs), when applied as driving…

Recent research increasingly focuses on training vision-language models (VLMs) with long, detailed image captions. However, small-scale VLMs often struggle to balance the richness of these captions with the risk of hallucinating content…