相关论文: SafePath: Conformal Prediction for Safe LLM-Based …

Ensuring safe driving while maintaining travel efficiency for autonomous vehicles in dynamic and occluded environments is a critical challenge. This paper proposes an occlusion-aware contingency safety-critical planning approach for…

Recent advancements in Large Language Models (LLMs) offer new opportunities to create natural language interfaces for Autonomous Driving Systems (ADSs), moving beyond rigid inputs. This paper addresses the challenge of mapping the…

Large Language Models (LLMs) and Multimodal LLMs (MLLMs) have demonstrated immense potential in autonomous driving (AD) by offering human-like reasoning and open-world generalization. However, the excessive computational overhead and high…

Robotic path planning problems are often NP-hard, and practical solutions typically rely on approximation algorithms with provable performance guarantees for general cases. While designing such algorithms is challenging, formally proving…

The goal of autonomous vehicles is to navigate public roads safely and comfortably. To enforce safety, traditional planning approaches rely on handcrafted rules to generate trajectories. Machine learning-based systems, on the other hand,…

Visual navigation is a core capability for mobile robots, yet end-to-end learning-based methods often struggle with generalization and safety in unseen, cluttered, or narrow environments. These limitations are especially pronounced in dense…

Despite real-time planners exhibiting remarkable performance in autonomous driving, the growing exploration of Large Language Models (LLMs) has opened avenues for enhancing the interpretability and controllability of motion planning.…

While powered wheelchairs reduce physical fatigue as opposed to manual wheelchairs for individuals with mobility impairment, they demand high cognitive workload due to information processing, decision making and motor coordination. Current…

Large Language Model (LLM)-based agents are increasingly deployed in real-world applications such as "digital assistants, autonomous customer service, and decision-support systems", where their ability to "interact in multi-turn,…

Safety-critical planning in complex environments, particularly at urban intersections, remains a fundamental challenge for autonomous driving. Existing methods, whether rule-based or data-driven, frequently struggle to capture complex scene…

Large vision-language models (VLMs) have shown promising capabilities in scene understanding, enhancing the explainability of driving behaviors and interactivity with users. Existing methods primarily fine-tune VLMs on on-board multi-view…

In this paper we present the first safe system for full control of self-driving vehicles trained from human demonstrations and deployed in challenging, real-world, urban environments. Current industry-standard solutions use rule-based…

Motion planning in complex scenarios is a core challenge in autonomous driving. Conventional methods apply predefined rules or learn from driving data to generate trajectories, while recent approaches leverage large language models (LLMs)…

Vision-language models (VLMs) have recently emerged as powerful representation learning systems that align visual observations with natural language concepts, offering new opportunities for semantic reasoning in safety-critical autonomous…

Large-scale Vision Language Models (LVLMs) exhibit advanced capabilities in tasks that require visual information, including object detection. These capabilities have promising applications in various industrial domains, such as autonomous…

The integration of large language models (LLMs) into automated driving systems has opened new possibilities for reasoning and decision-making by transforming complex driving contexts into language-understandable representations. Recent…

Pedestrian safety is a critical component of urban mobility and is strongly influenced by the interactions between pedestrian decision-making and driver yielding behavior at crosswalks. Modeling driver--pedestrian interactions at…

Large Reasoning Models (LRMs) have become powerful tools for complex problem solving, but their structured reasoning pathways can lead to unsafe outputs when exposed to harmful prompts. Existing safety alignment methods reduce harmful…

This study introduces a novel approach for traffic control systems by using Large Language Models (LLMs) as traffic controllers. The study utilizes their logical reasoning, scene understanding, and decision-making capabilities to optimize…

Autonomous driving technology, a catalyst for revolutionizing transportation and urban mobility, has the tend to transition from rule-based systems to data-driven strategies. Traditional module-based systems are constrained by cumulative…