相关论文: BEV-VLM: Trajectory Planning via Unified BEV Abstr…

The integration of Large Language Models (LLMs) into autonomous driving has attracted growing interest for their strong reasoning and semantic understanding abilities, which are essential for handling complex decision-making and long-tail…

Autonomous driving technology has the potential to transform transportation, but its wide adoption depends on the development of interpretable and transparent decision-making systems. Scene captioning, which generates natural language…

Vision-language models (VLMs) have recently emerged as powerful representation learning systems that align visual observations with natural language concepts, offering new opportunities for semantic reasoning in safety-critical autonomous…

A primary hurdle of autonomous driving in urban environments is understanding complex and long-tail scenarios, such as challenging road conditions and delicate human behaviors. We introduce DriveVLM, an autonomous driving system leveraging…

Recent advancements in open-source Visual Language Models (VLMs) such as LLaVA, Qwen-VL, and Llama have catalyzed extensive research on their integration with diverse systems. The internet-scale general knowledge encapsulated within these…

Talk2BEV is a large vision-language model (LVLM) interface for bird's-eye view (BEV) maps in autonomous driving contexts. While existing perception systems for autonomous driving scenarios have largely focused on a pre-defined (closed) set…

Autonomous driving requires accurate reasoning of the location of objects from raw sensor data. Recent end-to-end learning methods go from raw sensor data to a trajectory output via Bird's Eye View(BEV) segmentation as an interpretable…

World models have become central to autonomous driving, where accurate scene understanding and future prediction are crucial for safe control. Recent work has explored using vision-language models (VLMs) for planning, yet existing…

Understanding road geometry is a critical component of the autonomous vehicle (AV) stack. While high-definition (HD) maps can readily provide such information, they suffer from high labeling and maintenance costs. Accordingly, many recent…

We present an end-to-end method for object detection and trajectory prediction utilizing multi-view representations of LiDAR returns and camera images. In this work, we recognize the strengths and weaknesses of different view…

The rapid development of the autonomous driving industry has led to a significant accumulation of autonomous driving data. Consequently, there comes a growing demand for retrieving data to provide specialized optimization. However, directly…

Large vision-language models (VLMs) have shown promising capabilities in scene understanding, enhancing the explainability of driving behaviors and interactivity with users. Existing methods primarily fine-tune VLMs on on-board multi-view…

Human drivers adeptly navigate complex scenarios by utilizing rich attentional semantics, but the current autonomous systems struggle to replicate this ability, as they often lose critical semantic information when converting 2D…

In this paper, we introduce VisioPath, a novel framework combining vision-language models (VLMs) with model predictive control (MPC) to enable safe autonomous driving in dynamic traffic environments. The proposed approach leverages a…

Bird's-eye-view (BEV) representation is crucial for the perception function in autonomous driving tasks. It is difficult to balance the accuracy, efficiency and range of BEV representation. The existing works are restricted to a limited…

Integrating large language models (LLMs) into autonomous driving motion planning has recently emerged as a promising direction, offering enhanced interpretability, better controllability, and improved generalization in rare and long-tail…

In the field of autonomous driving, Bird's-Eye-View (BEV) perception has attracted increasing attention in the community since it provides more comprehensive information compared with pinhole front-view images and panoramas. Traditional BEV…

Vision-Language Navigation (VLN) requires agents to follow natural language instructions in partially observed 3D environments, motivating map representations that aggregate spatial context beyond local perception. However, most existing…

Autonomous driving is a complex and challenging task that aims at safe motion planning through scene understanding and reasoning. While vision-only autonomous driving methods have recently achieved notable performance, through enhanced…

3D visual perception tasks, including 3D detection and map segmentation based on multi-camera images, are essential for autonomous driving systems. In this work, we present a new framework termed BEVFormer, which learns unified BEV…