相关论文: RefAV: Towards Planning-Centric Scenario Mining

Accurately understanding and deciding high-level meta-actions is essential for ensuring reliable and safe autonomous driving systems. While vision-language models (VLMs) have shown significant potential in various autonomous driving tasks,…

For a successful market launch of automated vehicles (AVs), proof of their safety is essential. Due to the open parameter space, an infinite number of traffic situations can occur, which makes the proof of safety an unsolved problem. With…

Ensuring the safety of Autonomous Driving Systems (ADS) requires realistic and reproducible test scenarios, yet extracting such scenarios from multimodal crash reports remains a major challenge. Large Language Models (LLMs) often…

Object Goal Navigation (ObjectNav) in temporally changing indoor environments is challenging because object relocation can invalidate historical scene knowledge. To address this issue, we propose a probabilistic planning framework that…

Generating realistic and controllable traffic scenes from natural language can greatly enhance the development and evaluation of autonomous driving systems. However, this task poses unique challenges: (1) grounding free-form text into…

Simulation is a crucial step in ensuring accurate, efficient, and realistic Connected and Autonomous Vehicles (CAVs) testing and validation. As the adoption of CAV accelerates, the integration of real-world data into simulation environments…

Recent advancements in autonomous driving (AD) have explored the use of vision-language models (VLMs) within visual question answering (VQA) frameworks for direct driving decision-making. However, these approaches often depend on…

Human drivers rely on commonsense reasoning to navigate diverse and dynamic real-world scenarios. Existing end-to-end (E2E) autonomous driving (AD) models are typically optimized to mimic driving patterns observed in data, without capturing…

Understanding risk in autonomous driving requires not only perception and prediction, but also high-level reasoning about agent behavior and context. Current Vision Language Model (VLM)-based methods primarily ground agents in static images…

Autonomous Vehicles (AVs) rely on artificial intelligence (AI) to accurately detect objects and interpret their surroundings. However, even when trained using millions of miles of real-world data, AVs are often unable to detect rare failure…

Autonomous driving (AD) systems relying solely on onboard sensors may fail to detect distant or obstacle hazards, potentially causing preventable collisions; however, existing transformer-based Vehicle-to-Everything (V2X) approaches, which…

Extracting interesting scenarios from real-world data as well as generating failure cases is important for the development and testing of autonomous systems. We propose efficient mechanisms to both characterize and generate testing…

We present a continuation to our previous work, in which we developed the MR-CKR framework to reason with knowledge overriding across contexts organized in multi-relational hierarchies. Reasoning is realized via ASP with algebraic measures,…

Large vision-language models (VLMs) are increasingly used in autonomous-vehicle (AV) stacks, but hallucination limits their reliability in safety-critical pipelines. We present Shapley-credited Context-Aware Dawid-Skene with Agreement, a…

Vision-Language Models (VLMs) excel in diverse multimodal tasks. However, user requirements vary across scenarios, which can be categorized into fast response, high-quality output, and low energy consumption. Relying solely on large models…

Comprehensive situational awareness is essential for autonomous vehicles operating in safety-critical environments, as it enables the identification and mitigation of potential risks. Although recent Multimodal Large Language Models (MLLMs)…

Autonomous driving systems must operate reliably in safety-critical scenarios, particularly those involving unusual or complex behavior by Vulnerable Road Users (VRUs). Identifying these edge cases in driving datasets is essential for…

Existing UAV vision-and-language navigation (VLN) benchmarks rarely provide realistic aerial scenes, natural process-level instructions, and sufficient scale simultaneously, making it difficult to systematically train and evaluate UAV VLN…

Vision-language models (VLMs) integrate visual and textual information, enabling a wide range of applications such as image captioning and visual question answering, making them crucial for modern AI systems. However, their high…

The safe deployment of autonomous driving systems (ADSs) relies on comprehensive testing and evaluation. However, safety-critical scenarios that can effectively expose system vulnerabilities are extremely sparse in the real world. Existing…