5 papers
NetRoller: Interfacing General and Specialized Models for End-to-End Autonomous Driving
Ren Xin, Hongji Liu, Xiaodong Mei +4
Integrating General Models (GMs) such as Large Language Models (LLMs), with Specialized Models (SMs) in autonomous driving tasks presents a promising approach to mitigating challen…
DSDrive: Distilling Large Language Model for Lightweight End-to-End Autonomous Driving with Unified Reasoning and Planning
Wenru Liu, Pei Liu, Jun Ma
We present DSDrive, a streamlined end-to-end paradigm tailored for integrating the reasoning and planning of autonomous vehicles into a unified framework. DSDrive leverages a compa…
CoDriveVLM: VLM-Enhanced Urban Cooperative Dispatching and Motion Planning for Future Autonomous Mobility on Demand Systems
Haichao Liu, Ruoyu Yao, Wenru Liu +3
The increasing demand for flexible and efficient urban transportation solutions has spotlighted the limitations of traditional Demand Responsive Transport (DRT) systems, particular…
Integrating Decision-Making Into Differentiable Optimization Guided Learning for End-to-End Planning of Autonomous Vehicles
Wenru Liu, Yongkang Song, Chengzhen Meng +4
We address the decision-making capability within an end-to-end planning framework that focuses on motion prediction, decision-making, and trajectory planning. Specifically, we form…
Synergizing Decision Making and Trajectory Planning Using Two-Stage Optimization for Autonomous Vehicles
Wenru Liu, Haichao Liu, Lei Zheng +2
This paper introduces a local planner that synergizes the decision making and trajectory planning modules towards autonomous driving. The decision making and trajectory planning ta…