相关论文: Perception in Plan: Coupled Perception and Plannin…

Vision-Language Models(VLMs) excel at autoregressive text generation, yet end-to-end autonomous driving requires multi-task learning with structured outputs and heterogeneous decoding behaviors, such as autoregressive language generation,…

End-to-end motion planning is promising for simplifying complex autonomous driving pipelines. However, challenges such as scene understanding and effective prediction for decision-making continue to present substantial obstacles to its…

This paper introduces VisionPAD, a novel self-supervised pre-training paradigm designed for vision-centric algorithms in autonomous driving. In contrast to previous approaches that employ neural rendering with explicit depth supervision,…

Autonomous driving requires reliable perception and safe decision-making in complex scenarios. Recent vision-language models (VLMs) demonstrate reasoning and generalization abilities, opening new possibilities for autonomous driving;…

Existing end-to-end autonomous driving methods typically rely on imitation learning (IL) but face a key challenge: the misalignment between open-loop training and closed-loop deployment. This misalignment often triggers driver-initiated…

Visual navigation has been widely used for state estimation of micro aerial vehicles (MAVs). For stable visual navigation, MAVs should generate perception-aware paths which guarantee enough visible landmarks. Many previous works on…

Cooperatively utilizing both ego-vehicle and infrastructure sensor data via V2X communication has emerged as a promising approach for advanced autonomous driving. However, current research mainly focuses on improving individual modules,…

Multi-view cooperative perception and multimodal fusion are essential for reliable 3D spatiotemporal understanding in autonomous driving, especially under occlusions, limited viewpoints, and communication delays in V2X scenarios. This paper…

End-to-end autonomous driving demonstrates strong planning capabilities with large-scale data but still struggles in complex, rare scenarios due to limited commonsense. In contrast, Large Vision-Language Models (LVLMs) excel in scene…

This comprehensive survey examines the integration of knowledge-based approaches in autonomous driving systems, specifically focusing on trajectory prediction and planning. We extensively analyze various methodologies for incorporating…

End-to-end autonomous driving increasingly leverages self-supervised video pretraining to learn transferable planning representations. However, pretraining video world models for scene understanding has so far brought only limited…

Reliable planning is crucial for achieving autonomous driving. Rule-based planners are efficient but lack generalization, while learning-based planners excel in generalization yet have limitations in real-time performance and…

Autonomous vehicles equipped with robust onboard perception, localization, and planning still face limitations in occlusion and non-line-of-sight (NLOS) scenarios, where delayed reactions can increase collision risk. We propose CooperDrive,…

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…

Recent studies have explored leveraging the world knowledge and cognitive capabilities of Vision-Language Models (VLMs) to address the long-tail problem in end-to-end autonomous driving. However, existing methods typically formulate…

In this work, we introduce DeepIPC, a novel end-to-end model tailored for autonomous driving, which seamlessly integrates perception and control tasks. Unlike traditional models that handle these tasks separately, DeepIPC innovatively…

In the development of advanced driver-assistance systems (ADAS) and autonomous vehicles, machine learning techniques that are based on deep neural networks (DNNs) have been widely used for vehicle perception. These techniques offer…

Safety remains one of the most critical challenges in autonomous driving systems. In recent years, the end-to-end driving has shown great promise in advancing vehicle autonomy in a scalable manner. However, existing approaches often face…

The significant achievements of pre-trained models leveraging large volumes of data in the field of NLP and 2D vision inspire us to explore the potential of extensive data pre-training for 3D perception in autonomous driving. Toward this…

Traditionally, prediction and planning in autonomous driving (AD) have been treated as separate, sequential modules. Recently, there has been a growing shift towards tighter integration of these components, known as Integrated Prediction…