12 papers
LUNA-AD: Lightweight Uncertainty-Aware Language Model with Lifelong Learning for Autonomous Driving
Ruoyu Yao, Pei Liu, Ruiguo Zhong +3
While large language models (LLMs) offer promising reasoning capabilities, their integration into safety-critical driving systems is hindered by limited reasoning diversity, high c…
Decision-Making with Lightweight Confidence-Aware Language Model for Autonomous Driving
Ruoyu Yao, Ruiguo Zhong, Pei Liu +3
Large Language Models (LLMs) and Multimodal LLMs (MLLMs) have demonstrated immense potential in autonomous driving (AD) by offering human-like reasoning and open-world generalizati…
SCORP: Scene-Consistent Multi-agent Diffusion Planning with Stable Online Reinforcement Post-Training for Cooperative Driving
Haojie Bai, Aimin Li, Ruoyu Yao +5
Cooperative driving is a safety- and efficiency-critical task that requires the coordination of diverse, interaction-realistic multi-agent trajectories. Although existing diffusion…
DualShield: Safe Model Predictive Diffusion via Reachability Analysis for Interactive Autonomous Driving
Rui Yang, Lei Zheng, Ruoyu Yao +1
Diffusion models have emerged as a powerful approach for multimodal motion planning in autonomous driving. However, their practical deployment is typically hindered by the inherent…
nuPlan-R: A Closed-Loop Planning Benchmark for Autonomous Driving via Reactive Multi-Agent Simulation
Mingxing Peng, Ruoyu Yao, Xusen Guo +1
Recent advances in closed-loop planning benchmarks have significantly improved the evaluation of autonomous vehicles. However, existing benchmarks still rely on rule-based reactive…
OmniScene: Attention-Augmented Multimodal 4D Scene Understanding for Autonomous Driving
Pei Liu, Hongliang Lu, Haichao Liu +5
Human vision is capable of transforming two-dimensional observations into an egocentric three-dimensional scene understanding, which underpins the ability to translate complex scen…