相关论文: DriveVA: Video Action Models are Zero-Shot Drivers

Vision-based autonomous driving has gained much attention due to its low costs and excellent performance. Compared with dense BEV (Bird's Eye View) or sparse query models, Gaussian-centric method is a comprehensive yet sparse representation…

We introduce Latent-WAM, an efficient end-to-end autonomous driving framework that achieves strong trajectory planning through spatially-aware and dynamics-informed latent world representations. Existing world-model-based planners suffer…

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…

Recent years have seen remarkable progress in autonomous driving, yet generalization to long-tail and open-world scenarios remains a major bottleneck for large-scale deployment. To address this challenge, some works use LLMs and VLMs for…

End-to-end autonomous driving planners typically generate trajectories from current observations alone. However, real-world driving is highly dynamic, and such reactive planning cannot anticipate future scene evolution, often leading to…

As autonomous driving technology matures, end-to-end methodologies have emerged as a leading strategy, promising seamless integration from perception to control via deep learning. However, existing systems grapple with challenges such as…

Trained on internet-scale video data, generative world models are increasingly recognized as powerful world simulators that can generate consistent and plausible dynamics over structure, motion, and physics. This raises a natural question:…

Highway driving invariably combines high speeds with the need to interact closely with other drivers. Prediction methods enable autonomous vehicles (AVs) to anticipate drivers' future trajectories and plan accordingly. Kinematic methods for…

The rapid growth of ego-centric dashcam footage presents a major challenge for detecting safety-critical events such as collisions and near-collisions, scenarios that are brief, rare, and difficult for generic vision models to capture.…

Generative models offer a scalable and flexible paradigm for simulating complex environments, yet current approaches fall short in addressing the domain-specific requirements of autonomous driving - such as multi-agent interactions,…

Robot action planning in the real world is challenging as it requires not only understanding the current state of the environment but also predicting how it will evolve in response to actions. Vision-language-action (VLA), which repurpose…

World Action Models (WAMs) have emerged as a promising paradigm for robot control by modeling physical dynamics. Current WAMs generally follow two paradigms: the "Imagine-then-Execute" approach, which uses video prediction to infer actions…

In this paper, we propose a novel approach for solving the Visual Question Answering (VQA) task in autonomous driving by integrating Vision-Language Models (VLMs) with continual learning. In autonomous driving, VQA plays a vital role in…

Current Vision-Language-Action (VLA) paradigms in end-to-end autonomous driving rely on offline training from static datasets, leaving them vulnerable to distribution shift. Recent post-training methods use takeover data to mitigate this by…

Accurate prediction is important for operating an autonomous vehicle in interactive scenarios. Prediction must be fast, to support multiple requests from a planner exploring a range of possible futures. The generated predictions must…

Current end-to-end autonomous driving planners are fundamentally reactive: they condition on historical and present observations to predict future actions. We argue that autonomous agents should instead imagine future scenes before…

Manipulating dynamic objects remains an open challenge for Vision-Language-Action (VLA) models, which, despite strong generalization in static manipulation, struggle in dynamic scenarios requiring rapid perception, temporal anticipation,…

This paper presents a novel approach to Autonomous Vehicle (AV) control through the application of active inference, a theory derived from neuroscience that conceptualizes the brain as a predictive machine. Traditional autonomous driving…

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…

Real-world autonomous driving (AD) especially urban driving involves many corner cases. The lately released AD simulator CARLA v2 adds 39 common events in the driving scene, and provide more quasi-realistic testbed compared to CARLA v1. It…