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

Large Language Models (LLMs) have shown promise in the autonomous driving sector, particularly in generalization and interpretability. We introduce a unique object-level multimodal LLM architecture that merges vectorized numeric modalities…

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…

Current pre-trained vison-language models (PVLMs) achieve excellent performance on a range of multi-modal datasets. Recent work has aimed at building multilingual models, and a range of novel multilingual multi-modal datasets have been…

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…

Recent advances in vision language action (VLA) models have shown remarkable potential for autonomous driving by directly mapping multimodal inputs to control signals. However, previous VLA-based methods have not explicitly exploited the…

Current autonomous driving vehicles rely mainly on their individual sensors to understand surrounding scenes and plan for future trajectories, which can be unreliable when the sensors are malfunctioning or occluded. To address this problem,…

Detecting anomalous hazards in visual data, particularly in video streams, is a critical challenge in autonomous driving. Existing models often struggle with unpredictable, out-of-label hazards due to their reliance on predefined object…

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,…

We present OpenDriveVLA, a Vision Language Action model designed for end-to-end autonomous driving, built upon open-source large language models. OpenDriveVLA generates spatially grounded driving actions by leveraging multimodal inputs,…

The integration of Vision-Language Models (VLMs) into autonomous driving promises to solve long-tail scenarios, but this paradigm faces the critical and unaddressed challenge of catastrophic forgetting. The very fine-tuning process used to…

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…

The limited capacity for fine-grained visual perception presents a critical bottleneck for Vision-Language Models (VLMs) in real-world applications. Addressing this is challenging due to the scarcity of high-quality data and the limitations…

End-to-end autonomous driving has received increasing attention due to its potential to learn from large amounts of data. However, most existing methods are still open-loop and suffer from weak scalability, lack of high-order interactions,…

Human-level driving is an ultimate goal of autonomous driving. Conventional approaches formulate autonomous driving as a perception-prediction-planning framework, yet their systems do not capitalize on the inherent reasoning ability and…

The Large Visual-Language Models (LVLMs) have significantly advanced image understanding. Their comprehension and reasoning capabilities enable promising applications in autonomous driving scenarios. However, existing research typically…

We consider the problem of Vision-and-Language Navigation (VLN). The majority of current methods for VLN are trained end-to-end using either unstructured memory such as LSTM, or using cross-modal attention over the egocentric observations…

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 recent years, reinforcement learning (RL)-based methods for learning driving policies have gained increasing attention in the autonomous driving community and have achieved remarkable progress in various driving scenarios. However,…

Large vision-language models (VLMs) have garnered increasing interest in autonomous driving areas, due to their advanced capabilities in complex reasoning tasks essential for highly autonomous vehicle behavior. Despite their potential,…

Visual Question Answering (VQA) models, which fall under the category of vision-language models, conventionally execute multiple downsampling processes on image inputs to strike a balance between computational efficiency and model…