相关论文: VDT-Auto: End-to-end Autonomous Driving with VLM-G…

The integration of Large Language Models (LLMs) into autonomous driving has attracted growing interest for their strong reasoning and semantic understanding abilities, which are essential for handling complex decision-making and long-tail…

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…

Recently, the diffusion model has emerged as a powerful generative technique for robotic policy learning, capable of modeling multi-mode action distributions. Leveraging its capability for end-to-end autonomous driving is a promising…

Autonomous driving has long relied on modular "Perception-Decision-Action" pipelines, where hand-crafted interfaces and rule-based components often break down in complex or long-tailed scenarios. Their cascaded design further propagates…

Autonomous driving requires accurate scene understanding, including road geometry, traffic agents, and their semantic relationships. In online HD map generation scenarios, raster-based representations are well-suited to vision models but…

Bird's-eye-view (BEV) representations play a crucial role in autonomous driving tasks. Despite recent advancements in BEV generation, inherent noise, stemming from sensor limitations and the learning process, remains largely unaddressed,…

Drivers' visual attention provides critical cues for anticipating latent hazards and directly shapes decision-making and control maneuvers, where its absence can compromise traffic safety. To emulate drivers' perception patterns and advance…

We present OpenDriveVLA, a Vision Language Action model designed for end-to-end autonomous driving, built upon open-source large language models. OpenDriveVLA generates spatially grounded driving actions by leveraging multimodal inputs,…

Perceiving and reconstructing 3D scene geometry from visual inputs is crucial for autonomous driving. However, there still lacks a driving-targeted dense geometry perception model that can adapt to different scenarios and camera…

Traffic accidents present complex challenges for autonomous driving, often featuring unpredictable scenarios that hinder accurate system interpretation and responses. Nonetheless, prevailing methodologies fall short in elucidating the…

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…

Vision-Language-Action (VLA) models have emerged as a promising framework for end-to-end autonomous driving. However, existing VLAs typically rely on sparse action supervision, which underutilizes their powerful scene understanding and…

Vision-Language Models (VLMs) have recently emerged as a promising paradigm in autonomous driving (AD). However, current performance evaluation protocols for VLM-based AD systems (ADVLMs) are predominantly confined to open-loop settings…

We study how vision-language models (VLMs) trained on web-scale data can be integrated into end-to-end driving systems to boost generalization and enable interactivity with human users. While recent approaches adapt VLMs to driving via…

The rapid development of Vision-Language models (VLMs) and Multimodal Language Models (MLLMs) in autonomous driving research has significantly reshaped the landscape by enabling richer scene understanding, context-aware reasoning, and more…

Vision-Language Models (VLMs) have demonstrated significant potential for end-to-end autonomous driving. However, the field still lacks a practical platform that enables dynamic model updates, rapid validation, fair comparison, and…

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…

Localization is one of the core parts of modern robotics. Classic localization methods typically follow the retrieve-then-register paradigm, achieving remarkable success. Recently, the emergence of end-to-end localization approaches has…

The comprehensiveness of vehicle-to-everything (V2X) recognition enriches and holistically shapes the global Birds-Eye-View (BEV) perception, incorporating rich semantics and integrating driving scene information, thereby serving features…

Autonomous driving systems depend on on models that can reason about high-level scene contexts and accurately predict the dynamics of their surrounding environment. Vision- Language Models (VLMs) have recently emerged as promising tools for…