相关论文: S4-Driver: Scalable Self-Supervised Driving Multim…

World models have demonstrated superiority in autonomous driving, particularly in the generation of multi-view driving videos. However, significant challenges still exist in generating customized driving videos. In this paper, we propose…

World models envision potential future states based on various ego actions. They embed extensive knowledge about the driving environment, facilitating safe and scalable autonomous driving. Most existing methods primarily focus on either…

Autonomous driving is a complex task which requires advanced decision making and control algorithms. Understanding the rationale behind the autonomous vehicles' decision is crucial to ensure their safe and effective operation on highway…

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…

End-to-end autonomous driving (E2E-AD) demands effective processing of multi-view sensory data and robust handling of diverse and complex driving scenarios, particularly rare maneuvers such as aggressive turns. Recent success of…

In this study, we explore the potential of Multimodal Large Language Models (MLLMs) in improving embodied decision-making processes for agents. While Large Language Models (LLMs) have been widely used due to their advanced reasoning skills…

With the rapid evolution of global autonomous driving technology, the demand for its core sensing hardware, Light Detection and Ranging (LiDAR), is escalating. As the light source part of the LiDAR system, lasers, particularly the…

The pursuit of autonomous driving technology hinges on the sophisticated integration of perception, decision-making, and control systems. Traditional approaches, both data-driven and rule-based, have been hindered by their inability to…

Large vision-language models (VLMs) for autonomous driving (AD) are evolving beyond perception and cognition tasks toward motion planning. However, we identify two critical challenges in this direction: (1) VLMs tend to learn shortcuts by…

We propose a holistic approach for deploying Small Language Models (SLMs) as function-calling agents within vehicles as edge devices, offering a more flexible and robust alternative to traditional rule-based systems. By leveraging SLMs, we…

LiDAR representation learning has emerged as a promising approach to reducing reliance on costly and labor-intensive human annotations. While existing methods primarily focus on spatial alignment between LiDAR and camera sensors, they often…

Recent advances have explored integrating large language models (LLMs) into end-to-end autonomous driving systems to enhance generalization and interpretability. However, most existing approaches are limited to either driving performance or…

Typically, autonomous driving adopts a modular design, which divides the full stack into perception, prediction, planning and control parts. Though interpretable, such modular design tends to introduce a substantial amount of redundancy.…

Autonomous Driving (AD) encounters significant safety hurdles in long-tail unforeseen driving scenarios, largely stemming from the non-interpretability and poor generalization of the deep neural networks within the AD system, particularly…

Deep learning architectures with powerful reasoning capabilities have driven significant advancements in autonomous driving technology. Large language models (LLMs) applied in this field can describe driving scenes and behaviors with a…

Despite achieving significant progress in 2D image understanding, large multimodal models (LMMs) struggle in the physical world due to the lack of spatial representation. Typically, existing 3D LMMs mainly embed 3D positions as fixed…

We introduce EMMA, an End-to-end Multimodal Model for Autonomous driving. Built upon a multi-modal large language model foundation like Gemini, EMMA directly maps raw camera sensor data into various driving-specific outputs, including…

Recent advancements in Vision-Language-Action (VLA) models have shown promise for end-to-end autonomous driving by leveraging world knowledge and reasoning capabilities. However, current VLA models often struggle with physically infeasible…

3D Visual Grounding (3DVG) focuses on locating objects in 3D scenes based on natural language descriptions, serving as a fundamental task for embodied AI and robotics. Recent advances in Multi-modal Large Language Models (MLLMs) have…

Existing learning-based autonomous driving (AD) systems face challenges in comprehending high-level information, generalizing to rare events, and providing interpretability. To address these problems, this work employs Large Language Models…