相关论文: nuCarla: A nuScenes-Style Bird's-Eye View Percepti…

Closed-loop evaluation is increasingly critical for end-to-end autonomous driving. Current closed-loop benchmarks using the CARLA simulator rely on manually configured traffic scenarios, which can diverge from real-world conditions,…

Autonomous driving requires efficient reasoning about the location and appearance of the different agents in the scene, which aids in downstream tasks such as object detection, object tracking, and path planning. The past few years have…

Current research in semantic bird's-eye view segmentation for autonomous driving focuses solely on optimizing neural network models using a single dataset, typically nuScenes. This practice leads to the development of highly specialized…

In the field of autonomous driving, end-to-end deep learning models show great potential by learning driving decisions directly from sensor data. However, training these models requires large amounts of labeled data, which is time-consuming…

Collecting a high-quality dataset is a critical task that demands meticulous attention to detail, as overlooking certain aspects can render the entire dataset unusable. Autonomous driving challenges remain a prominent area of research,…

End-to-end autonomous driving recently emerged as a promising research direction to target autonomy from a full-stack perspective. Along this line, many of the latest works follow an open-loop evaluation setting on nuScenes to study the…

Modern autonomous driving systems are typically divided into three main tasks: perception, prediction, and planning. The planning task involves predicting the trajectory of the ego vehicle based on inputs from both internal intention and…

Perception is essential for autonomous driving system. Recent approaches based on Bird's-eye-view (BEV) and deep learning have made significant progress. However, there exists challenging issues including lengthy development cycles, poor…

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…

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…

We propose UAD, a method for vision-based end-to-end autonomous driving (E2EAD), achieving the best open-loop evaluation performance in nuScenes, meanwhile showing robust closed-loop driving quality in CARLA. Our motivation stems from the…

Bird's-Eye-View (BEV) perception has become a foundational paradigm in autonomous driving, enabling unified spatial representations that support robust multi-sensor fusion and multi-agent collaboration. As autonomous vehicles transition…

Bird's-Eye View (BEV) Perception has received increasing attention in recent years as it provides a concise and unified spatial representation across views and benefits a diverse set of downstream driving applications. At the same time,…

In an era marked by the rapid scaling of foundation models, autonomous driving technologies are approaching a transformative threshold where end-to-end autonomous driving (E2E-AD) emerges due to its potential of scaling up in the…

Vision Language Action (VLA) models promise an open-vocabulary interface that can translate perceptual ambiguity into semantically grounded driving decisions, yet they still treat language as a static prior fixed at inference time. As a…

Visual bird's eye view (BEV) perception, due to its excellent perceptual capabilities, is progressively replacing costly LiDAR-based perception systems, especially in the realm of urban intelligent driving. However, this type of perception…

Autonomous driving systems face significant challenges in perceiving complex environments and making real-time decisions. Traditional modular approaches, while offering interpretability, suffer from error propagation and coordination…

Bird's-eye-view (BEV) is a powerful and widely adopted representation for road scenes that captures surrounding objects and their spatial locations, along with overall context in the scene. In this work, we focus on bird's eye semantic…

The rapid development of Vision-Language models (VLMs) and Multimodal Language Models (MLLMs) in autonomous driving research has significantly reshaped the landscape by enabling richer scene understanding, context-aware reasoning, and more…

Recent advances in multi-modal large language models (MLLMs) have demonstrated strong performance across various domains; however, their ability to comprehend driving scenes remains less proven. The complexity of driving scenarios, which…