相关论文: MMDrive: Interactive Scene Understanding Beyond Vi…

Vision-Language Models (VLMs) and Multi-Modal Language models (MMLMs) have become prominent in autonomous driving research, as these models can provide interpretable textual reasoning and responses for end-to-end autonomous driving safety…

2D RGB images and 3D LIDAR point clouds provide complementary knowledge for the perception system of autonomous vehicles. Several 2D and 3D fusion methods have been explored for the LIDAR semantic segmentation task, but they suffer from…

Autonomous driving systems depend on on models that can reason about high-level scene contexts and accurately predict the dynamics of their surrounding environment. Vision- Language Models (VLMs) have recently emerged as promising tools for…

Vision-Language-Action (VLA) models have recently emerged in autonomous driving, with the promise of leveraging rich world knowledge to improve the cognitive capabilities of driving systems. However, adapting such models for driving tasks…

Recent end-to-end autonomous driving approaches have leveraged Vision-Language Models (VLMs) to enhance planning capabilities in complex driving scenarios. However, VLMs are inherently trained as generalist models, lacking specialized…

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…

Multi-task learning (MTL) can advance assistive driving by exploring inter-task correlations through shared representations. However, existing methods face two critical limitations: single-modality constraints limiting comprehensive scene…

Existing top-performance autonomous driving systems typically rely on the multi-modal fusion strategy for reliable scene understanding. This design is however fundamentally restricted due to overlooking the modality-specific strengths and…

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…

Driving World Models (DWMs) have been developing rapidly with the advances of generative models. However, existing DWMs lack 3D scene understanding capabilities and can only generate content conditioned on input data, without the ability to…

Autonomous driving is a complex and challenging task that aims at safe motion planning through scene understanding and reasoning. While vision-only autonomous driving methods have recently achieved notable performance, through enhanced…

Multi-modal fusion is a basic task of autonomous driving system perception, which has attracted many scholars' interest in recent years. The current multi-modal fusion methods mainly focus on camera data and LiDAR data, but pay little…

With the bloom of Large Language Models (LLMs), Multimodal Large Language Models (MLLMs) that incorporate LLMs with pre-trained vision models have recently demonstrated impressive performance across diverse vision-language tasks. However,…

Traffic scene understanding is essential for enabling autonomous vehicles to accurately perceive and interpret their environment, thereby ensuring safe navigation. This paper presents a novel framework that transforms a single frontal-view…

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,…

Although multi-modal large language models (MLLMs) have shown strong capabilities across diverse domains, their application in generating fine-grained 3D perception and prediction outputs in autonomous driving remains underexplored. In this…

Multi-modal 3D scene understanding has gained considerable attention due to its wide applications in many areas, such as autonomous driving and human-computer interaction. Compared to conventional single-modal 3D understanding, introducing…

LiDAR and camera are two modalities available for 3D semantic segmentation in autonomous driving. The popular LiDAR-only methods severely suffer from inferior segmentation on small and distant objects due to insufficient laser points, while…

Large-scale deployment of autonomous vehicles has been continually delayed due to safety concerns. On the one hand, comprehensive scene understanding is indispensable, a lack of which would result in vulnerability to rare but complex…

Recent advancements in perception for autonomous driving are driven by deep learning. In order to achieve robust and accurate scene understanding, autonomous vehicles are usually equipped with different sensors (e.g. cameras, LiDARs,…