相关论文: Predicting the Road Ahead: A Knowledge Graph based…

The common pipeline in autonomous driving systems is highly modular and includes a perception component which extracts lists of surrounding objects and passes these lists to a high-level decision component. In this case, leveraging the…

Accurately forecasting the motion of traffic actors is crucial for the deployment of autonomous vehicles at a large scale. Current trajectory forecasting approaches primarily concentrate on optimizing a loss function with a specific metric,…

An accurate understanding of a self-driving vehicle's surrounding environment is crucial for its navigation system. To enhance the effectiveness of existing algorithms and facilitate further research, it is essential to provide…

The rise of large foundation models, trained on extensive datasets, is revolutionizing the field of AI. Models such as SAM, DALL-E2, and GPT-4 showcase their adaptability by extracting intricate patterns and performing effectively across…

In this work, we study how vision-language models (VLMs) can be utilized to enhance the safety for the autonomous driving system, including perception, situational understanding, and path planning. However, existing research has largely…

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…

Personal service robots are deployed to support daily living in domestic environments, particularly for elderly and individuals requiring assistance. These robots must perceive complex and dynamic surroundings, understand tasks, and execute…

Modeling stochastic traffic behaviors at the microscopic level, such as car-following and lane-changing, is a crucial task to understand the interactions between individual vehicles in traffic streams. Leveraging a recently developed theory…

Many safety-critical applications, especially in autonomous driving, require reliable object detectors. They can be very effectively assisted by a method to search for and identify potential failures and systematic errors before these…

Autonomous vehicle perception systems have traditionally relied on costly LiDAR sensors to generate precise environmental representations. In this paper, we propose a camera-only perception framework that produces Bird's Eye View (BEV) maps…

Recent advances in multi-modal large language models (MLLMs) have demonstrated strong performance across various domains; however, their ability to comprehend driving scenes remains less proven. The complexity of driving scenarios, which…

Autonomous mobile robots deployed in urban environments must be context-aware, i.e., able to distinguish between different semantic entities, and robust to occlusions. Current approaches like semantic scene completion (SSC) require…

Autonomous off-road navigation requires an accurate semantic understanding of the environment, often converted into a bird's-eye view (BEV) representation for various downstream tasks. While learning-based methods have shown success in…

Autonomous driving is a challenging task that requires perceiving and understanding the surrounding environment for safe trajectory planning. While existing vision-based end-to-end models have achieved promising results, these methods are…

World models have attracted increasing attention in autonomous driving for their ability to forecast potential future scenarios. In this paper, we propose BEVWorld, a novel framework that transforms multimodal sensor inputs into a unified…

Many existing autonomous driving paradigms involve a multi-stage discrete pipeline of tasks. To better predict the control signals and enhance user safety, an end-to-end approach that benefits from joint spatial-temporal feature learning is…

Centerline graphs, crucial for path planning in autonomous driving, are traditionally learned using deterministic methods. However, these methods often lack spatial reasoning and struggle with occluded or invisible centerlines. Generative…

Vision-language models (VLMs) have become a promising approach to enhancing perception and decision-making in autonomous driving. The gap remains in applying VLMs to understand complex scenarios interacting with pedestrians and efficient…

While Vision-Language Models (VLMs) offer rich world knowledge for end-to-end autonomous driving, current approaches heavily rely on labor-intensive language annotations (e.g., VQA) to bridge perception and control. This paradigm suffers…

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…