相关论文: EponaV2: Driving World Model with Comprehensive Fu…

Focusing on the task of point-to-point navigation for an autonomous driving vehicle, we propose a novel deep learning model trained with end-to-end and multi-task learning manners to perform both perception and control tasks simultaneously.…

The end-to-end (E2E) paradigm, which maps sensor inputs directly to driving decisions, has recently attracted significant attention due to its unified modeling capability and scalability. However, ensuring safety in this unified framework…

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…

Prediction, decision-making, and motion planning are essential for autonomous driving. In most contemporary works, they are considered as individual modules or combined into a multi-task learning paradigm with a shared backbone but separate…

Vision-and-Language Navigation in Continuous Environments (VLN-CE), which links language instructions to perception and control in the real world, is a core capability of embodied robots. Recently, large-scale pretrained foundation models…

In the rapidly evolving landscape of autonomous driving, the capability to accurately predict future events and assess their implications is paramount for both safety and efficiency, critically aiding the decision-making process. World…

The comprehensiveness of vehicle-to-everything (V2X) recognition enriches and holistically shapes the global Birds-Eye-View (BEV) perception, incorporating rich semantics and integrating driving scene information, thereby serving features…

In this paper we propose a novel end-to-end learnable network that performs joint perception, prediction and motion planning for self-driving vehicles and produces interpretable intermediate representations. Unlike existing neural motion…

End-to-end autonomous driving has evolved from the conventional paradigm based on sparse perception into vision-language-action (VLA) models, which focus on learning language descriptions as an auxiliary task to facilitate planning. In this…

We present a novel method, AutoSpatial, an efficient approach with structured spatial grounding to enhance VLMs' spatial reasoning. By combining minimal manual supervision with large-scale Visual Question-Answering (VQA) pairs…

Driving scene understanding is to obtain comprehensive scene information through the sensor data and provide a basis for downstream tasks, which is indispensable for the safety of self-driving vehicles. Specific perception tasks, such as…

In the event of sensor failure, autonomous vehicles need to safely execute emergency maneuvers while avoiding other vehicles on the road. To accomplish this, the sensor-failed vehicle must predict the future semantic behaviors of other…

In this paper, we present an online two-level vehicle trajectory prediction framework for urban autonomous driving where there are complex contextual factors, such as lane geometries, road constructions, traffic regulations and moving…

End-to-end autonomous driving has emerged as a promising paradigm integrating perception, decision-making, and control within a unified learning framework. Recently, Vision-Language Models (VLMs) have gained significant attention for their…

While reasoning technology like Chain of Thought (CoT) has been widely adopted in Vision Language Action (VLA) models, it demonstrates promising capabilities in end to end autonomous driving. However, recent efforts to integrate CoT…

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…

Existing vision-and-language navigation (VLN) models primarily reason over past and current visual observations, while largely ignoring the future visual dynamics induced by actions. As a result, they often lack an effective understanding…

End-to-end (E2E) models in autonomous driving aim to directly map sensor inputs to control commands, but their ability to generalize to novel and complex scenarios remains a key challenge. The common practice of fully fine-tuning the vision…

End-to-end autonomous driving methods built on vision language models (VLMs) have undergone rapid development driven by their universal visual understanding and strong reasoning capabilities obtained from the large-scale pretraining.…

The feasibility of collecting a large amount of expert demonstrations has inspired growing research interests in learning-to-drive settings, where models learn by imitating the driving behaviour from experts. However, exclusively relying on…