4 papers
To Route or to Adapt? Multi-Expert Diffusion Planners in Unseen Regions
Yun Li, Ehsan Javanmardi, Simon Thompson +7
Diffusion trajectory planners with domain-specific experts face a practical question in unseen regions: can they rely on selecting among existing experts, or must the planner itsel…
Think at 5 Hz, Act at 20 Hz: Asynchronous Fast-Slow Vision-Language-Action Inference for Closed-Loop Driving
Yun Li, Jiachen Gong, Simon Thompson +7
Large language models bring instruction following and scene reasoning to end-to-end driving, but their inference latency collides with the control rate a vehicle requires. Existing…
Causal Scene Narration: Inference-Time Text Restructuring for Vision-Language-Action Driving
Yun Li, Yidu Zhang, Simon Thompson +2
Vision-Language-Action (VLA) models for autonomous driving receive navigation commands and hazard notices as disconnected text fragments, forcing the model to discover on its own w…
An Open-Source Modular Benchmark for Diffusion-Based Motion Planning in Closed-Loop Autonomous Driving
Yun Li, Simon Thompson, Yidu Zhang +2
Diffusion-based motion planners have achieved state-of-the-art results on benchmarks such as nuPlan, yet their evaluation within closed-loop production autonomous driving stacks re…