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

This paper summarizes our formal approach to testing autonomous vehicles (AVs) in simulation for the IEEE AV Test Challenge. We demonstrate a systematic testing framework leveraging our previous work on formally-driven simulation for…

Recently, numerous algorithms have been developed to tackle the problem of vision-language navigation (VLN), i.e., entailing an agent to navigate 3D environments through following linguistic instructions. However, current VLN agents simply…

Autonomous driving systems (ADS) are safety-critical and require comprehensive testing before their deployment on public roads. While existing testing approaches primarily aim at the criticality of scenarios, they often overlook the…

We introduce STSBench, a scenario-based framework to benchmark the holistic understanding of vision-language models (VLMs) for autonomous driving. The framework automatically mines pre-defined traffic scenarios from any dataset using…

Visual Question Answering (VQA) models, which fall under the category of vision-language models, conventionally execute multiple downsampling processes on image inputs to strike a balance between computational efficiency and model…

Vision-Language-Action (VLA) models have emerged as a promising paradigm for end-to-end autonomous driving, yet their reliance on implicit parametric knowledge limits generalization in long-tail scenarios. While Retrieval-Augmented…

Current autonomous driving vehicles rely mainly on their individual sensors to understand surrounding scenes and plan for future trajectories, which can be unreliable when the sensors are malfunctioning or occluded. To address this problem,…

The development of robust Autonomous Vehicles (AVs) is bottlenecked by the scarcity of "Long-Tail" training data. While fleets collect petabytes of video logs, identifying rare safety-critical events (e.g., erratic jaywalking, construction…

Developing agents capable of navigating to a target location based on language instructions and visual information, known as vision-language navigation (VLN), has attracted widespread interest. Most research has focused on ground-based…

The long-tail distribution of real driving data poses challenges for training and testing autonomous vehicles (AV), where rare yet crucial safety-critical scenarios are infrequent. And virtual simulation offers a low-cost and efficient…

Autonomous Vehicle (AV) perception systems require more than simply seeing, via e.g., object detection or scene segmentation. They need a holistic understanding of what is happening within the scene for safe interaction with other road…

Recent incidents with autonomous vehicles highlight the need for rigorous testing to ensure safety and robustness. Constructing test scenarios for autonomous driving systems (ADSs), however, is labor-intensive. We propose TARGET, an…

Autonomous Vehicles (AVs), furnished with sensors capable of capturing essential vehicle dynamics such as speed, acceleration, and precise location, possess the capacity to execute intelligent maneuvers, including lane changes, in…

With the rapid development of automated vehicles (AVs) in recent years, commercially available AVs are increasingly demonstrating high-level automation capabilities. However, most existing AV safety evaluation methods are primarily designed…

Cooperative autonomous driving requires traffic scene understanding from both vehicle and infrastructure perspectives. While vision-language models (VLMs) show strong general reasoning capabilities, their performance in safety-critical…

Automated vehicles (AVs) are tested in diverse scenarios, typically specified by parameters such as velocities, distances, or curve radii. To describe scenarios uniformly independent of such parameters, this paper proposes a vectorized…

We present Argoverse -- two datasets designed to support autonomous vehicle machine learning tasks such as 3D tracking and motion forecasting. Argoverse was collected by a fleet of autonomous vehicles in Pittsburgh and Miami. The Argoverse…

Scene understanding is essential for enhancing driver safety, generating human-centric explanations for Automated Vehicle (AV) decisions, and leveraging Artificial Intelligence (AI) for retrospective driving video analysis. This study…

Autonomous landing is essential for drones deployed in emergency deliveries, post-disaster response, and other large-scale missions. By enabling self-docking on charging platforms, it facilitates continuous operation and significantly…

Interaction between the background vehicles (BVs) and automated vehicles (AVs) in scenario-based testing plays a critical role in evaluating the intelligence of the AVs. Current testing scenarios typically employ predefined or scripted BVs,…