相关论文: SAFe-Copilot: Unified Shared Autonomy Framework

Autonomous driving technology, a catalyst for revolutionizing transportation and urban mobility, has the tend to transition from rule-based systems to data-driven strategies. Traditional module-based systems are constrained by cumulative…

While large multimodal models (LMMs) have demonstrated strong performance across various Visual Question Answering (VQA) tasks, certain challenges require complex multi-step reasoning to reach accurate answers. One particularly challenging…

Unanswered questions about how human-AV interaction designers can support rider's informational needs hinders Autonomous Vehicles (AV) adoption. To achieve joint human-AV action goals - such as safe transportation, trust, or learning from…

Evaluating vision-language models (VLMs) in urban driving contexts remains challenging, as existing benchmarks rely on open-ended responses that are ambiguous, annotation-intensive, and inconsistent to score. This lack of standardized…

Autonomous driving has progressed from modular pipelines toward end-to-end unification, and Vision-Language-Action (VLA) models are a natural extension of this journey beyond Vision-to-Action (VA). In practice, driving VLAs have often…

A fundamental challenge of shared autonomy is to use high-DoF robots to assist, rather than hinder, humans by first inferring user intent and then empowering the user to achieve their intent. Although successful, prior methods either rely…

Existing end-to-end autonomous driving models rely heavily on purely data-driven inductive reasoning. This "black-box" nature leads to a lack of interpretability and absolute safety guarantees in complex, long-tail scenarios. To overcome…

Recent advances in Vision-Language-Action (VLA) models have shown promising capabilities in autonomous driving by leveraging the understanding and reasoning strengths of Large Language Models(LLMs).However, our empirical analysis reveals…

Embodied scene understanding serves as the cornerstone for autonomous agents to perceive, interpret, and respond to open driving scenarios. Such understanding is typically founded upon Vision-Language Models (VLMs). Nevertheless, existing…

Autonomous driving requires generating safe and reliable trajectories from complex multimodal inputs. Traditional modular pipelines separate perception, prediction, and planning, while recent end-to-end (E2E) systems learn them jointly.…

Shared autonomy systems require principled methods for inferring user intent and determining appropriate assistance levels. This is a central challenge in human-robot interaction, where systems must be successful while being mindful of user…

Emerging generative world models and vision-language-action (VLA) systems are rapidly reshaping automated driving by enabling scalable simulation, long-horizon forecasting, and capability-rich decision making. Across these directions,…

One of the key factors determining whether autonomous vehicles (AVs) can be seamlessly integrated into existing traffic systems is their ability to interact smoothly and efficiently with human drivers and communicate their intentions. While…

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…

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…

Typically, autonomous driving adopts a modular design, which divides the full stack into perception, prediction, planning and control parts. Though interpretable, such modular design tends to introduce a substantial amount of redundancy.…

Recent advancements in Vision-Language Models (VLMs) have sparked interest in their use for autonomous driving, particularly in generating interpretable driving decisions through natural language. However, the assumption that VLMs…

Decision-making and motion planning constitute critical components for ensuring the safety and efficiency of autonomous vehicles (AVs). Existing methodologies typically adopt two paradigms: decision then planning or generation then scoring.…

In mobile robot shared control, effectively understanding human motion intention is critical for seamless human-robot collaboration. This paper presents a novel shared control framework featuring planning-level intention prediction. A path…

This paper introduces a multi-agent framework for comprehensive highway scene understanding, designed around a mixture-of-experts strategy. In this framework, a large generic vision-language model (VLM), such as GPT-4o, is contextualized…