相关论文: Less is More: Lean yet Powerful Vision-Language Mo…

Recent advancements in autonomous driving (AD) have explored the use of vision-language models (VLMs) within visual question answering (VQA) frameworks for direct driving decision-making. However, these approaches often depend on…

End-to-end autonomous driving requires models to understand traffic scenes, infer driving intent, and generate executable motion plans. Recent vision-language-action (VLA) models inherit semantic priors from large-scale vision-language…

Recent advancements in language-grounded autonomous driving have been significantly promoted by the sophisticated cognition and reasoning capabilities of large language models (LLMs). However, current LLM-based approaches encounter critical…

End-to-end autonomous driving systems based on vision-language-action (VLA) models integrate multimodal sensor inputs and language instructions to generate planning and control signals. While autoregressive large language models and…

Scene understanding and risk-aware attentions are crucial for human drivers to make safe and effective driving decisions. To imitate this cognitive ability in urban autonomous driving while ensuring the transparency and interpretability, we…

Existing Vision-Language models (VLMs) estimate either long-term trajectory waypoints or a set of control actions as a reactive solution for closed-loop planning based on their rich scene comprehension. However, these estimations are coarse…

Solving complex, long-horizon robotic manipulation tasks requires a deep understanding of physical interactions, reasoning about their long-term consequences, and precise high-level planning. Vision-Language Models (VLMs) offer a general…

The applications of Vision-Language Models (VLMs) in the field of Autonomous Driving (AD) have attracted widespread attention due to their outstanding performance and the ability to leverage Large Language Models (LLMs). By incorporating…

Autonomous driving systems face significant challenges in handling unpredictable edge-case scenarios, such as adversarial pedestrian movements, dangerous vehicle maneuvers, and sudden environmental changes. Current end-to-end driving models…

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…

In autonomous driving, dynamic environment and corner cases pose significant challenges to the robustness of ego vehicle's state understanding and decision making. We introduce VDRive, a novel pipeline for end-to-end autonomous driving that…

Efficient trajectory planning in off-road terrains presents a formidable challenge for autonomous vehicles, often necessitating complex multi-step pipelines. However, traditional approaches exhibit limited adaptability in dynamic…

This paper introduces BEV-VLM, a novel approach for trajectory planning in autonomous driving that leverages Vision-Language Models (VLMs) with Bird's-Eye View (BEV) feature maps as visual input. Unlike conventional trajectory planning…

The autonomous driving community is increasingly focused on addressing the challenges posed by out-of-distribution (OOD) driving scenarios. A dominant research trend seeks to enhance end-to-end (E2E) driving systems by integrating…

Integrating vision-language models (VLMs) into end-to-end (E2E) autonomous driving (AD) systems has shown promise in improving scene understanding. However, existing integration strategies suffer from several limitations: they either…

The integration of Vision-Language Models (VLMs) into autonomous driving systems has shown promise in addressing key challenges such as learning complexity, interpretability, and common-sense reasoning. However, existing approaches often…

Out-of-distribution (OOD) scenarios in autonomous driving pose critical challenges, as planners often fail to generalize beyond their training experience, leading to unsafe or unexpected behavior. Vision-Language Models (VLMs) have shown…

Large-scale Vision Language Models (LVLMs) exhibit advanced capabilities in tasks that require visual information, including object detection. These capabilities have promising applications in various industrial domains, such as autonomous…

We study how vision-language models (VLMs) trained on web-scale data can be integrated into end-to-end driving systems to boost generalization and enable interactivity with human users. While recent approaches adapt VLMs to driving via…

Current Vision-Language-Action (VLA) paradigms in autonomous driving primarily rely on Imitation Learning (IL), which introduces inherent challenges such as distribution shift and causal confusion. Online Reinforcement Learning offers a…