相关论文: Where, What, Why: Towards Explainable Driver Atten…

At the heart of all automated driving systems is the ability to sense the surroundings, e.g., through semantic segmentation of LiDAR sequences, which experienced a remarkable progress due to the release of large datasets such as…

Practical autonomous driving requires models that generalize by reasoning through spatial-temporal possibilities to exclude unsafe outcomes. While state-of-the-art (SOTA) methods use parallel planning architectures, they fail to explicitly…

Explainable AI (XAI) aims to make AI systems more transparent, yet many practices emphasise mathematical rigour over practical user needs. We propose an alternative to this model-centric approach by following a design thinking process for…

Scene understanding is a vital part of autonomous driving systems, which requires the use of deep learning models. Deep learning methods are intrinsically black box models, which lack transparency and safety in autonomous driving. To make…

As large language models are increasingly trained and fine-tuned, practitioners need methods to identify which training data drive specific behaviors, particularly unintended ones. Training Data Attribution (TDA) methods address this by…

Understanding road topology is crucial for autonomous driving. This paper introduces TopoBDA (Topology with Bezier Deformable Attention), a novel approach that enhances road topology comprehension by leveraging Bezier Deformable Attention…

Towards better unsupervised domain adaptation (UDA). Recently, researchers propose various domain-conditioned attention modules and make promising progresses. However, considering that the configuration of attention, i.e., the type and the…

We propose a computational model to estimate a person's attended awareness of their environment. We define attended awareness to be those parts of a potentially dynamic scene which a person has attended to in recent history and which they…

The goal of our work is to use visual attention to enhance autonomous driving performance. We present two methods of predicting visual attention maps. The first method is a supervised learning approach in which we collect eye-gaze data for…

Large Vision Language Models (LVLMs) have shown strong capabilities in understanding and analyzing visual scenes across various domains. However, in the context of autonomous driving, their limited comprehension of 3D environments restricts…

Pedestrian intention and trajectory prediction are critical for the safe deployment of autonomous driving systems, directly influencing navigation decisions in complex traffic environments. Recent advances in large vision-language models…

Vision-Language-Action (VLA) models have recently shown strong decision-making capabilities in autonomous driving. However, existing VLAs often struggle with achieving efficient inference and generalizing to novel autonomous vehicle…

Concept bottleneck models have been successfully used for explainable machine learning by encoding information within the model with a set of human-defined concepts. In the context of human-assisted or autonomous driving, explainability…

The large-scale deployment of autonomous vehicles is yet to come, and one of the major remaining challenges lies in urban dense traffic scenarios. In such cases, it remains challenging to predict the future evolution of the scene and future…

Diverse and extensive work has recently been conducted on text-conditioned human motion generation. However, progress in the reverse direction, motion captioning, has seen less comparable advancement. In this paper, we introduce a novel…

Attention is a core operation in large language models (LLMs) and vision-language models (VLMs). We present BD Attention (BDA), the first lossless algorithmic reformulation of attention. BDA is enabled by a simple matrix identity from Basis…

Trajectory planning is a fundamental yet challenging component of autonomous driving. End-to-end planners frequently falter under adverse weather, unpredictable human behavior, or complex road layouts, primarily because they lack strong…

We present a visual localization framework based on novel deep attention aware features for autonomous driving that achieves centimeter level localization accuracy. Conventional approaches to the visual localization problem rely on…

Conventional end-to-end (E2E) driving models are effective at generating physically plausible trajectories, but often fail to generalize to long-tail scenarios due to the lack of essential world knowledge to understand and reason about…

Autonomous driving has long relied on modular "Perception-Decision-Action" pipelines, where hand-crafted interfaces and rule-based components often break down in complex or long-tailed scenarios. Their cascaded design further propagates…