{"id":"https://openalex.org/W4401414574","doi":"https://doi.org/10.1109/icra57147.2024.10611018","title":"Driving with LLMs: Fusing Object-Level Vector Modality for Explainable Autonomous Driving","display_name":"Driving with LLMs: Fusing Object-Level Vector Modality for Explainable Autonomous Driving","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401414574","doi":"https://doi.org/10.1109/icra57147.2024.10611018"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10611018","doi":"https://doi.org/10.1109/icra57147.2024.10611018","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611018","pdf_url":null,"source":{"id":"https://openalex.org/S4210217939","display_name":"Proceedings - IEEE International Conference on Robotics and Automation/Proceedings","issn_l":"1050-4729","issn":["1050-4729","2577-087X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","norway-1"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","is_traditional":true,"indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2310.01957","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5102813447","display_name":"Long Chen","orcid":"https://orcid.org/0009-0004-6764-3403","observed_orcids":["https://orcid.org/0009-0004-6764-3403","https://orcid.org/0000-0003-0543-7060"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Long Chen","raw_affiliation_strings":["Wayve"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Wayve","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5093006042","display_name":"Oleg Sinavski","orcid":"https://orcid.org/0009-0002-8529-8100","observed_orcids":["https://orcid.org/0009-0002-8529-8100"]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Oleg Sinavski","raw_affiliation_strings":["Wayve"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Wayve","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5093006043","display_name":"Jan H\u00fcnermann","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jan H\u00fcnermann","raw_affiliation_strings":["Wayve"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Wayve","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063217975","display_name":"Alice Karnsund","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Alice Karnsund","raw_affiliation_strings":["Wayve"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Wayve","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111284140","display_name":"Andrew James Willmott","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Andrew James Willmott","raw_affiliation_strings":["Wayve"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Wayve","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108966905","display_name":"Danny Birch","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Danny Birch","raw_affiliation_strings":["Wayve"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Wayve","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5093006044","display_name":"Daniel Maund","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Daniel Maund","raw_affiliation_strings":["Wayve"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Wayve","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5002831957","display_name":"Jamie Shotton","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jamie Shotton","raw_affiliation_strings":["Wayve"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Wayve","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":109.6435,"has_fulltext":true,"cited_by_count":287,"citation_normalized_percentile":{"value":0.99980006,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"14093","last_page":"14100"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9032999873161316,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9032999873161316,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.04179999977350235,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12026","display_name":"Explainable Artificial Intelligence (XAI)","score":0.011599999852478504,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/large-language-models","display_name":"large language models","score":0.8090000152587891},{"id":"https://openalex.org/keywords/autonomous-driving","display_name":"autonomous driving","score":0.9670000076293945},{"id":"https://openalex.org/keywords/explainable-ai","display_name":"explainable AI","score":0.7480000257492065},{"id":"https://openalex.org/keywords/behavioral-cloning","display_name":"behavior cloning","score":0.5040000081062317},{"id":"https://openalex.org/keywords/driver-decision-making","display_name":"driver decision-making","score":0.5929999947547913},{"id":"https://openalex.org/keywords/benchmarking-metrics","display_name":"benchmarking metrics","score":0.30399999022483826}],"concepts":[{"id":"https://openalex.org/C2780226545","wikidata":"https://www.wikidata.org/wiki/Q6888030","display_name":"Modality (human\u2013computer interaction)","level":2,"score":0.7635734677314758},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6666773557662964},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.6552265882492065},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.597042441368103},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5883466601371765}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icra57147.2024.10611018","doi":"https://doi.org/10.1109/icra57147.2024.10611018","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611018","pdf_url":null,"source":{"id":"https://openalex.org/S4210217939","display_name":"Proceedings - IEEE International Conference on Robotics and Automation/Proceedings","issn_l":"1050-4729","issn":["1050-4729","2577-087X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","norway-1"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2310.01957","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2310.01957","pdf_url":"https://arxiv.org/pdf/2310.01957","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.2310.01957","doi":"https://doi.org/10.48550/arxiv.2310.01957","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2310.01957","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2310.01957","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2310.01957","pdf_url":"https://arxiv.org/pdf/2310.01957","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4401414574.pdf","grobid_xml":"https://content.openalex.org/works/W4401414574.grobid-xml"},"referenced_works_count":55,"referenced_works":["https://openalex.org/W2169393322","https://openalex.org/W2516809705","https://openalex.org/W2605409611","https://openalex.org/W2736601468","https://openalex.org/W2885138528","https://openalex.org/W2890235476","https://openalex.org/W2905173465","https://openalex.org/W2934842096","https://openalex.org/W2948036864","https://openalex.org/W2951025380","https://openalex.org/W2962858109","https://openalex.org/W2963016445","https://openalex.org/W2980421174","https://openalex.org/W2981207549","https://openalex.org/W2981731882","https://openalex.org/W3034722190","https://openalex.org/W3035337382","https://openalex.org/W3115057995","https://openalex.org/W3134299861","https://openalex.org/W3135367836","https://openalex.org/W3164011142","https://openalex.org/W3168867926","https://openalex.org/W3188166520","https://openalex.org/W3190965961","https://openalex.org/W3205401901","https://openalex.org/W4212774754","https://openalex.org/W4225323055","https://openalex.org/W4226108798","https://openalex.org/W4306706296","https://openalex.org/W4307413605","https://openalex.org/W4318718936","https://openalex.org/W4322718191","https://openalex.org/W4353072217","https://openalex.org/W4360836968","https://openalex.org/W4362597614","https://openalex.org/W4379929801","https://openalex.org/W4383097607","https://openalex.org/W4384662964","https://openalex.org/W4385301544","https://openalex.org/W4385473486","https://openalex.org/W4385572634","https://openalex.org/W4386071707","https://openalex.org/W4389519239","https://openalex.org/W4389519254","https://openalex.org/W4394654451","https://openalex.org/W4395091069","https://openalex.org/W4401043863","https://openalex.org/W6684338915","https://openalex.org/W6741002519","https://openalex.org/W6796581206","https://openalex.org/W6798634944","https://openalex.org/W6849177959","https://openalex.org/W6850936240","https://openalex.org/W6854738657","https://openalex.org/W6960125083"],"related_works":["https://openalex.org/W4416731372","https://openalex.org/W4401386967","https://openalex.org/W4414110562","https://openalex.org/W7125734338","https://openalex.org/W7153282235","https://openalex.org/W4392902614","https://openalex.org/W7151802991","https://openalex.org/W4394862623","https://openalex.org/W4402727495","https://openalex.org/W4406892642"],"abstract_inverted_index":{"Large":[0],"Language":[1],"Models":[2],"(LLMs)":[3],"have":[4],"shown":[5],"promise":[6],"in":[7,13,38,109,127],"the":[8,120],"autonomous":[9],"driving":[10,39,54,111,124],"sector,":[11],"particularly":[12],"generalization":[14],"and":[15,66,104,115,138],"interpretability.":[16],"We":[17,41,95,133],"introduce":[18,97],"a":[19,31,44],"unique":[20],"objectlevel":[21],"multimodal":[22],"LLM":[23,33,73,88],"architecture":[24],"that":[25],"merges":[26],"vectorized":[27],"numeric":[28,83],"modalities":[29,85],"with":[30,57,63,86],"pre-trained":[32],"to":[34,81,129],"improve":[35],"context":[36],"understanding":[37],"situations.":[40],"also":[42,96],"present":[43],"new":[45],"dataset":[46],"of":[47,122],"160k":[48],"QA":[49,103],"pairs":[50,69],"derived":[51],"from":[52],"10k":[53],"scenarios,":[55,112],"paired":[56],"high":[58],"quality":[59],"control":[60],"commands":[61],"collected":[62],"RL":[64],"agent":[65],"question":[67],"answer":[68],"generated":[70],"by":[71],"teacher":[72],"(GPT-3.5).":[74],"A":[75],"distinct":[76],"pretraining":[77],"strategy":[78],"is":[79],"devised":[80],"align":[82],"vector":[84,91],"static":[87],"representations":[89],"using":[90],"captioning":[92],"language":[93],"data.":[94],"an":[98],"evaluation":[99],"metric":[100],"for":[101],"Driving":[102],"demonstrate":[105],"our":[106,135],"LLM-driver\u2019s":[107],"proficiency":[108],"interpreting":[110],"answering":[113],"questions,":[114],"decision-making.":[116],"Our":[117],"findings":[118],"highlight":[119],"potential":[121],"LLM-based":[123],"action":[125],"generation":[126],"comparison":[128],"traditional":[130],"behavioral":[131],"cloning.":[132],"make":[134],"benchmark,":[136],"datasets,":[137],"model":[139],"available1for":[140],"further":[141],"exploration.":[142]},"counts_by_year":[{"year":2026,"cited_by_count":65},{"year":2025,"cited_by_count":143},{"year":2024,"cited_by_count":74},{"year":2023,"cited_by_count":5}],"updated_date":"2026-11-10T11:39:43.021295","created_date":"2024-08-09T00:00:00"}