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

Multimodal large language models (MLLMs) have shown strong potential for autonomous driving, yet existing benchmarks remain largely ego-centric and therefore cannot systematically assess model performance in infrastructure-centric and…

Shared autonomy enables robots to infer user intent and assist in accomplishing it. But when the user wants to do a new task that the robot does not know about, shared autonomy will hinder their performance by attempting to assist them with…

Integrating large language models (LLMs) in autonomous vehicles enables conversation with AI systems to drive the vehicle. However, it also emphasizes the requirement for such systems to comprehend commands accurately and achieve…

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…

Shared control allows the human driver to collaborate with an assistive driving system while retaining the ability to make decisions and take control if necessary. However, human-vehicle teaming and planning are challenging due to…

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…

Large language models (LLMs) as autonomous agents offer a novel avenue for tackling real-world challenges through a knowledge-driven manner. These LLM-enhanced methodologies excel in generalization and interpretability. However, the…

Semi-autonomous vehicles are increasingly serving critical functions in various settings from mining to logistics to defence. A key characteristic of such systems is the presence of the human (drivers) in the control loop. To ensure safety,…

In shared autonomy, user input and robot autonomy are combined to control a robot to achieve a goal. Often, the robot does not know a priori which goal the user wants to achieve, and must both predict the user's intended goal, and assist in…

The integration of electric vehicles (EVs) into smart grids presents unique opportunities to enhance both transportation systems and energy networks. However, ensuring safe and interpretable interactions between drivers, vehicles, and the…

Shared control schemes allow a human driver to work with an automated driving agent in driver-vehicle systems while retaining the driver's abilities to control. The human driver, as an essential agent in the driver-vehicle shared control…

End-to-End autonomous driving (E2E-AD) has emerged as a new paradigm, where trajectory planning plays a crucial role. Existing studies mainly follow two directions: trajectory generation oriented, which focuses on producing high-quality…

The development of high-level autonomous driving (AD) is shifting from perception-centric limitations to a more fundamental bottleneck, namely, a deficit in robust and generalizable reasoning. Although current AD systems manage structured…

Existing benchmarks for Vision-Language Model (VLM) on autonomous driving (AD) primarily assess interpretability through open-form visual question answering (QA) within coarse-grained tasks, which remain insufficient to assess capabilities…

Automated vehicles lack natural communication channels with other road users, making external Human-Machine Interfaces (eHMIs) essential for conveying intent and maintaining trust in shared environments. However, most eHMI studies rely on…

This paper describes a framework for learning Automated Vehicles (AVs) driver models via knowledge sharing between vehicles and personalization. The innate variability in the transportation system makes it exceptionally challenging to…

Vision-language models (VLMs) serve as general-purpose end-to-end models in autonomous driving, performing subtasks such as prediction, planning, and perception through question-and-answer interactions. However, most existing methods rely…

While intelligence of autonomous vehicles (AVs) has significantly advanced in recent years, accidents involving AVs suggest that these autonomous systems lack gracefulness in driving when interacting with human drivers. In the setting of a…

While Vision-Language Models (VLMs) offer rich world knowledge for end-to-end autonomous driving, current approaches heavily rely on labor-intensive language annotations (e.g., VQA) to bridge perception and control. This paradigm suffers…