相关论文: Natural Language Instructions for Scene-Responsive…

Current autonomous driving systems often favor end-to-end frameworks, which take sensor inputs like images and learn to map them into trajectory space via neural networks. Previous work has demonstrated that models can achieve better…

Scene understanding and risk-aware attentions are crucial for human drivers to make safe and effective driving decisions. To imitate this cognitive ability in urban autonomous driving while ensuring the transparency and interpretability, we…

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…

Scene understanding is essential for enhancing driver safety, generating human-centric explanations for Automated Vehicle (AV) decisions, and leveraging Artificial Intelligence (AI) for retrospective driving video analysis. This study…

The expansion of instruction-tuning data has enabled foundation language models to exhibit improved instruction adherence and superior performance across diverse downstream tasks. Semantically-rich 3D human motion is being progressively…

Training a reinforcement learning agent to carry out natural language instructions is limited by the available supervision, i.e. knowing when the instruction has been carried out. We adapt the CLEVR visual question answering dataset to…

The rise of multi-modal large language models(MLLMs) has spurred their applications in autonomous driving. Recent MLLM-based methods perform action by learning a direct mapping from perception to action, neglecting the dynamics of the world…

Language is compositional; an instruction can express multiple relation constraints to hold among objects in a scene that a robot is tasked to rearrange. Our focus in this work is an instructable scene-rearranging framework that generalizes…

Pedestrian intention and trajectory prediction are critical for the safe deployment of autonomous driving systems, directly influencing navigation decisions in complex traffic environments. Recent advances in large vision-language models…

Instruction tuning is crucial for enabling Large Language Models (LLMs) to solve real-world tasks. Prior work has shown the effectiveness of instruction-tuning data synthesized solely from LLMs, raising a fundamental question: Do we still…

Object navigation (ObjectNav) requires an agent to navigate through unseen environments to find queried objects. Many previous methods attempted to solve this task by relying on supervised or reinforcement learning, where they are trained…

Recent advancements in foundation models (FMs) have unlocked new prospects in autonomous driving, yet the experimental settings of these studies are preliminary, over-simplified, and fail to capture the complexity of real-world driving…

Guiding users through complex procedural plans is an inherently multimodal task in which having visually illustrated plan steps is crucial to deliver an effective plan guidance. However, existing works on plan-following language models…

Personalized driving refers to an autonomous vehicle's ability to adapt its driving behavior or control strategies to match individual users' preferences and driving styles while maintaining safety and comfort standards. However, existing…

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…

Large Language Models (LLMs) have achieved remarkable success, where instruction tuning is the critical step in aligning LLMs with user intentions. In this work, we investigate how the instruction tuning adjusts pre-trained models with a…

Text-to-motion generation has recently garnered significant research interest, primarily focusing on generating human motion sequences in blank backgrounds. However, human motions commonly occur within diverse 3D scenes, which has prompted…

We propose a neural sequence-to-sequence model for direction following, a task that is essential to realizing effective autonomous agents. Our alignment-based encoder-decoder model with long short-term memory recurrent neural networks…

With the rise of multimodal applications, instruction data has become critical for training multimodal language models capable of understanding complex image-based queries. Existing practices rely on powerful but costly large language…

A primary hurdle of autonomous driving in urban environments is understanding complex and long-tail scenarios, such as challenging road conditions and delicate human behaviors. We introduce DriveVLM, an autonomous driving system leveraging…