相关论文: Generative Planning with 3D-vision Language Pre-tr…

Vision-Language Pretraining (VLP) has demonstrated remarkable capabilities in learning visual representations from textual descriptions of images without annotations. Yet, effective VLP demands large-scale image-text pairs, a resource that…

Integrating vision-language models (VLMs) into end-to-end (E2E) autonomous driving (AD) systems has shown promise in improving scene understanding. However, existing integration strategies suffer from several limitations: they either…

Multi-camera 3D object detection for autonomous driving is a challenging problem that has garnered notable attention from both academia and industry. An obstacle encountered in vision-based techniques involves the precise extraction of…

Robots need robust and flexible vision systems to perceive and reason about their environments beyond geometry. Most of such systems build upon deep learning approaches. As autonomous robots are commonly deployed in initially unknown…

Unmanned Aerial Vehicle (UAV) Vision-and-Language Navigation (VLN) is vital for applications such as disaster response, logistics delivery, and urban inspection. However, existing methods often struggle with insufficient multimodal fusion,…

Vision-Language Navigation (VLN) aims to enable agents to navigate to a target location based on language instructions. Traditional VLN often follows a close-set assumption, i.e., training and test data share the same style of the input…

Synthesizing photo-realistic visual observations from an ego vehicle's driving trajectory is a critical step towards scalable training of self-driving models. Reconstruction-based methods create 3D scenes from driving logs and synthesize…

In autonomous driving, predicting future events in advance and evaluating the foreseeable risks empowers autonomous vehicles to better plan their actions, enhancing safety and efficiency on the road. To this end, we propose Drive-WM, the…

Recent advances in generative models have sparked exciting new possibilities in the field of autonomous vehicles. Specifically, video generation models are now being explored as controllable virtual testing environments. Simultaneously,…

End-to-end autonomous driving has received increasing attention due to its potential to learn from large amounts of data. However, most existing methods are still open-loop and suffer from weak scalability, lack of high-order interactions,…

Vision-Language Navigation (VLN) approaches have currently followed two primary paradigms: the end-to-end Vision-Language Model (VLM) policy fine-tuned on navigation trajectories to directly predict actions, and the zero-shot modular…

In this paper, we introduce VisioPath, a novel framework combining vision-language models (VLMs) with model predictive control (MPC) to enable safe autonomous driving in dynamic traffic environments. The proposed approach leverages a…

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.…

Autonomous driving requires rich contextual comprehension and precise predictive reasoning to navigate dynamic and complex environments safely. Vision-Language Models (VLMs) and Driving World Models (DWMs) have independently emerged as…

World models envision potential future states based on various ego actions. They embed extensive knowledge about the driving environment, facilitating safe and scalable autonomous driving. Most existing methods primarily focus on either…

Vision-Language-Action (VLA) models are emerging as a promising paradigm for end-to-end autonomous driving, valued for their potential to leverage world knowledge and reason about complex driving scenes. However, existing methods suffer…

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…

Unlike popular modularized framework, end-to-end autonomous driving seeks to solve the perception, decision and control problems in an integrated way, which can be more adapting to new scenarios and easier to generalize at scale. However,…

End-to-end autonomous driving with vision-only is not only more cost-effective compared to LiDAR-vision fusion but also more reliable than traditional methods. To achieve a economical and robust purely visual autonomous driving system, we…

The latest advancements in multi-modal large language models (MLLMs) have spurred a strong renewed interest in end-to-end motion planning approaches for autonomous driving. Many end-to-end approaches rely on human annotations to learn…