6 papers · 1 filter
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 with Runtime Safety Supervision for Vision-Language-Action Driving
Yun Li, Yidu Zhang, Simon Thompson +2
Vision-Language-Action (VLA) models for autonomous driving must integrate diverse textual inputs, including navigation commands, hazard warnings, and traffic state descriptions, ye…
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…
Towards Robust LiDAR Localization: Deep Learning-based Uncertainty Estimation
Minoo Dolatabadi, Fardin Ayar, Ehsan Javanmardi +2
LiDAR-based localization and SLAM often rely on iterative matching algorithms, particularly the Iterative Closest Point (ICP) algorithm, to align sensor data with pre-existing maps…
Towards Efficient Roadside LiDAR Deployment: A Fast Surrogate Metric Based on Entropy-Guided Visibility
Yuze Jiang, Ehsan Javanmardi, Manabu Tsukada +1
The deployment of roadside LiDAR sensors plays a crucial role in the development of Cooperative Intelligent Transport Systems (C-ITS). However, the high cost of LiDAR sensors neces…
Neural Error Covariance Estimation for Precise LiDAR Localization
Minoo Dolatabadi, Fardin Ayar, Ehsan Javanmardi +2
Autonomous vehicles have gained significant attention due to technological advancements and their potential to transform transportation. A critical challenge in this domain is prec…