{"id":"https://openalex.org/W4416748911","doi":"https://doi.org/10.1109/iros60139.2025.11246750","title":"On-Board Vision-Language Models (VLMs) for Personalized Motion Control of Autonomous Vehicles","display_name":"On-Board Vision-Language Models (VLMs) for Personalized Motion Control of Autonomous Vehicles","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416748911","doi":"https://doi.org/10.1109/iros60139.2025.11246750"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11246750","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246750","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5025560682","display_name":"Can Cui","orcid":"https://orcid.org/0000-0002-1783-623X"},"institutions":[{"id":"https://openalex.org/I219193219","display_name":"Purdue University West Lafayette","ror":"https://ror.org/02dqehb95","country_code":"US","type":"education","lineage":["https://openalex.org/I219193219"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Can Cui","raw_affiliation_strings":["Purdue University,College of Engineering,West Lafayette,IN,USA,47907"],"affiliations":[{"raw_affiliation_string":"Purdue University,College of Engineering,West Lafayette,IN,USA,47907","institution_ids":["https://openalex.org/I219193219"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104202411","display_name":"Zichong Yang","orcid":null},"institutions":[{"id":"https://openalex.org/I219193219","display_name":"Purdue University West Lafayette","ror":"https://ror.org/02dqehb95","country_code":"US","type":"education","lineage":["https://openalex.org/I219193219"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zichong Yang","raw_affiliation_strings":["Purdue University,College of Engineering,West Lafayette,IN,USA,47907"],"affiliations":[{"raw_affiliation_string":"Purdue University,College of Engineering,West Lafayette,IN,USA,47907","institution_ids":["https://openalex.org/I219193219"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108139703","display_name":"Yupeng Zhou","orcid":"https://orcid.org/0009-0000-7647-2299"},"institutions":[{"id":"https://openalex.org/I219193219","display_name":"Purdue University West Lafayette","ror":"https://ror.org/02dqehb95","country_code":"US","type":"education","lineage":["https://openalex.org/I219193219"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yupeng Zhou","raw_affiliation_strings":["Purdue University,College of Engineering,West Lafayette,IN,USA,47907"],"affiliations":[{"raw_affiliation_string":"Purdue University,College of Engineering,West Lafayette,IN,USA,47907","institution_ids":["https://openalex.org/I219193219"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104171287","display_name":"Juntong Peng","orcid":"https://orcid.org/0009-0007-1142-3067"},"institutions":[{"id":"https://openalex.org/I219193219","display_name":"Purdue University West Lafayette","ror":"https://ror.org/02dqehb95","country_code":"US","type":"education","lineage":["https://openalex.org/I219193219"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Juntong Peng","raw_affiliation_strings":["Purdue University,College of Engineering,West Lafayette,IN,USA,47907"],"affiliations":[{"raw_affiliation_string":"Purdue University,College of Engineering,West Lafayette,IN,USA,47907","institution_ids":["https://openalex.org/I219193219"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046735314","display_name":"Sung\u2010Yeon Park","orcid":"https://orcid.org/0000-0001-5205-7963"},"institutions":[{"id":"https://openalex.org/I219193219","display_name":"Purdue University West Lafayette","ror":"https://ror.org/02dqehb95","country_code":"US","type":"education","lineage":["https://openalex.org/I219193219"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sung-Yeon Park","raw_affiliation_strings":["Purdue University,College of Engineering,West Lafayette,IN,USA,47907"],"affiliations":[{"raw_affiliation_string":"Purdue University,College of Engineering,West Lafayette,IN,USA,47907","institution_ids":["https://openalex.org/I219193219"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5115596518","display_name":"Cong Zhang","orcid":"https://orcid.org/0009-0006-8154-609X"},"institutions":[{"id":"https://openalex.org/I219193219","display_name":"Purdue University West Lafayette","ror":"https://ror.org/02dqehb95","country_code":"US","type":"education","lineage":["https://openalex.org/I219193219"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Cong Zhang","raw_affiliation_strings":["Purdue University,College of Engineering,West Lafayette,IN,USA,47907"],"affiliations":[{"raw_affiliation_string":"Purdue University,College of Engineering,West Lafayette,IN,USA,47907","institution_ids":["https://openalex.org/I219193219"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103050279","display_name":"Yunsheng Ma","orcid":"https://orcid.org/0000-0003-3933-2574"},"institutions":[{"id":"https://openalex.org/I219193219","display_name":"Purdue University West Lafayette","ror":"https://ror.org/02dqehb95","country_code":"US","type":"education","lineage":["https://openalex.org/I219193219"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yunsheng Ma","raw_affiliation_strings":["Purdue University,College of Engineering,West Lafayette,IN,USA,47907"],"affiliations":[{"raw_affiliation_string":"Purdue University,College of Engineering,West Lafayette,IN,USA,47907","institution_ids":["https://openalex.org/I219193219"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101491152","display_name":"Xu Cao","orcid":"https://orcid.org/0000-0002-7923-0188"},"institutions":[{"id":"https://openalex.org/I22965374","display_name":"Committee on Institutional Cooperation","ror":"https://ror.org/02ntfsb56","country_code":"US","type":"education","lineage":["https://openalex.org/I22965374"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xu Cao","raw_affiliation_strings":["UIUC,Computer Science Department,Champaign,IL,USA,61801"],"affiliations":[{"raw_affiliation_string":"UIUC,Computer Science Department,Champaign,IL,USA,61801","institution_ids":["https://openalex.org/I22965374"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067298507","display_name":"Wenqian Ye","orcid":"https://orcid.org/0000-0002-6069-5153"},"institutions":[{"id":"https://openalex.org/I51556381","display_name":"University of Virginia","ror":"https://ror.org/0153tk833","country_code":"US","type":"education","lineage":["https://openalex.org/I51556381"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Wenqian Ye","raw_affiliation_strings":["University of Virginia,Computer Science Department,Charlottesville,VA,USA,22903"],"affiliations":[{"raw_affiliation_string":"University of Virginia,Computer Science Department,Charlottesville,VA,USA,22903","institution_ids":["https://openalex.org/I51556381"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011085340","display_name":"Yiheng Feng","orcid":"https://orcid.org/0000-0001-5656-3222"},"institutions":[{"id":"https://openalex.org/I219193219","display_name":"Purdue University West Lafayette","ror":"https://ror.org/02dqehb95","country_code":"US","type":"education","lineage":["https://openalex.org/I219193219"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yiheng Feng","raw_affiliation_strings":["Purdue University,College of Engineering,West Lafayette,IN,USA,47907"],"affiliations":[{"raw_affiliation_string":"Purdue University,College of Engineering,West Lafayette,IN,USA,47907","institution_ids":["https://openalex.org/I219193219"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036201536","display_name":"Jitesh H. Panchal","orcid":"https://orcid.org/0000-0003-4873-3089"},"institutions":[{"id":"https://openalex.org/I219193219","display_name":"Purdue University West Lafayette","ror":"https://ror.org/02dqehb95","country_code":"US","type":"education","lineage":["https://openalex.org/I219193219"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jitesh Panchal","raw_affiliation_strings":["Purdue University,College of Engineering,West Lafayette,IN,USA,47907"],"affiliations":[{"raw_affiliation_string":"Purdue University,College of Engineering,West Lafayette,IN,USA,47907","institution_ids":["https://openalex.org/I219193219"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101586017","display_name":"Lingxi Li","orcid":"https://orcid.org/0000-0002-5192-492X"},"institutions":[{"id":"https://openalex.org/I219193219","display_name":"Purdue University West Lafayette","ror":"https://ror.org/02dqehb95","country_code":"US","type":"education","lineage":["https://openalex.org/I219193219"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Lingxi Li","raw_affiliation_strings":["Purdue University,College of Engineering,West Lafayette,IN,USA,47907"],"affiliations":[{"raw_affiliation_string":"Purdue University,College of Engineering,West Lafayette,IN,USA,47907","institution_ids":["https://openalex.org/I219193219"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061279239","display_name":"Yaobin Chen","orcid":"https://orcid.org/0000-0002-9875-4083"},"institutions":[{"id":"https://openalex.org/I219193219","display_name":"Purdue University West Lafayette","ror":"https://ror.org/02dqehb95","country_code":"US","type":"education","lineage":["https://openalex.org/I219193219"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yaobin Chen","raw_affiliation_strings":["Purdue University,College of Engineering,West Lafayette,IN,USA,47907"],"affiliations":[{"raw_affiliation_string":"Purdue University,College of Engineering,West Lafayette,IN,USA,47907","institution_ids":["https://openalex.org/I219193219"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5038550389","display_name":"Ziran Wang","orcid":"https://orcid.org/0000-0003-2702-7150"},"institutions":[{"id":"https://openalex.org/I219193219","display_name":"Purdue University West Lafayette","ror":"https://ror.org/02dqehb95","country_code":"US","type":"education","lineage":["https://openalex.org/I219193219"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ziran Wang","raw_affiliation_strings":["Purdue University,College of Engineering,West Lafayette,IN,USA,47907"],"affiliations":[{"raw_affiliation_string":"Purdue University,College of Engineering,West Lafayette,IN,USA,47907","institution_ids":["https://openalex.org/I219193219"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":14,"corresponding_author_ids":["https://openalex.org/A5025560682"],"corresponding_institution_ids":["https://openalex.org/I219193219"],"apc_list":null,"apc_paid":null,"fwci":1.428,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.87484345,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"20349","last_page":"20356"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.3441999852657318,"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"}},"topics":[{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.3441999852657318,"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.31520000100135803,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.07840000092983246,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.569100022315979},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5544999837875366},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.4810999929904938},{"id":"https://openalex.org/keywords/preference","display_name":"Preference","score":0.47450000047683716},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.34380000829696655},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.3418999910354614},{"id":"https://openalex.org/keywords/advanced-driver-assistance-systems","display_name":"Advanced driver assistance systems","score":0.33970001339912415}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6603000164031982},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.569100022315979},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5544999837875366},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5393999814987183},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.4810999929904938},{"id":"https://openalex.org/C2781249084","wikidata":"https://www.wikidata.org/wiki/Q908656","display_name":"Preference","level":2,"score":0.47450000047683716},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.45570001006126404},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.34380000829696655},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.3418999910354614},{"id":"https://openalex.org/C87833898","wikidata":"https://www.wikidata.org/wiki/Q1060280","display_name":"Advanced driver assistance systems","level":2,"score":0.33970001339912415},{"id":"https://openalex.org/C2780689630","wikidata":"https://www.wikidata.org/wiki/Q2081815","display_name":"Driving simulator","level":2,"score":0.3160000145435333},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3138999938964844},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3066999912261963},{"id":"https://openalex.org/C4554734","wikidata":"https://www.wikidata.org/wiki/Q593744","display_name":"Knowledge base","level":2,"score":0.2921000123023987},{"id":"https://openalex.org/C48007421","wikidata":"https://www.wikidata.org/wiki/Q676252","display_name":"Motion capture","level":3,"score":0.27399998903274536},{"id":"https://openalex.org/C2777551076","wikidata":"https://www.wikidata.org/wiki/Q842332","display_name":"Front (military)","level":2,"score":0.2728999853134155},{"id":"https://openalex.org/C2776608160","wikidata":"https://www.wikidata.org/wiki/Q4785462","display_name":"Natural (archaeology)","level":2,"score":0.26669999957084656},{"id":"https://openalex.org/C20162079","wikidata":"https://www.wikidata.org/wiki/Q1151406","display_name":"Case-based reasoning","level":2,"score":0.2572999894618988},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.2515999972820282}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11246750","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246750","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1857789879","https://openalex.org/W2131439959","https://openalex.org/W2152532668","https://openalex.org/W2206222117","https://openalex.org/W3022893663","https://openalex.org/W3035574168","https://openalex.org/W3210643912","https://openalex.org/W3212901280","https://openalex.org/W4285294418","https://openalex.org/W4308069109","https://openalex.org/W4308555850","https://openalex.org/W4360995340","https://openalex.org/W4385325724","https://openalex.org/W4389519587","https://openalex.org/W4389667254","https://openalex.org/W4391621173","https://openalex.org/W4394862623","https://openalex.org/W4394862786","https://openalex.org/W4401414574","https://openalex.org/W4402727451","https://openalex.org/W4402753604","https://openalex.org/W4405785138","https://openalex.org/W4405785962","https://openalex.org/W4408697174"],"related_works":[],"abstract_inverted_index":{"Personalized":[0],"driving":[1,11,22,84,106,128],"refers":[2],"to":[3,8,16,35,56,122,140],"an":[4],"autonomous":[5,160],"vehicle\u2019s":[6],"ability":[7,121],"adapt":[9],"its":[10],"behavior":[12],"or":[13,41],"control":[14,156],"strategies":[15],"match":[17],"individual":[18,105],"users\u2019":[19],"preferences":[20,107],"and":[21,27,64,126,133],"styles":[23],"while":[24,86],"maintaining":[25,87],"safety":[26],"comfort":[28],"standards.":[29],"However,":[30],"existing":[31],"works":[32],"either":[33],"fail":[34],"capture":[36],"every":[37],"individual\u2019s":[38],"preference":[39],"precisely":[40],"become":[42],"computationally":[43],"inefficient":[44],"as":[45],"the":[46,120,143,151],"user":[47],"base":[48],"expands.":[49],"Vision-Language":[50],"Models":[51],"(VLMs)":[52],"offer":[53],"promising":[54],"solutions":[55],"this":[57,69,148],"front":[58],"through":[59,108],"their":[60],"natural":[61],"language":[62],"understanding":[63],"scene":[65],"reasoning":[66,89],"capabilities.":[67,90],"In":[68],"work,":[70],"we":[71],"propose":[72],"a":[73,94],"lightweight":[74],"yet":[75],"effective":[76],"on-board":[77],"VLM":[78,154],"framework":[79],"that":[80,100],"provides":[81],"low-latency":[82],"personalized":[83,127,153],"performance":[85],"strong":[88],"Our":[91],"solution":[92],"incorporates":[93],"Retrieval-Augmented":[95],"Generation":[96],"(RAG)-based":[97],"memory":[98],"module":[99],"enables":[101],"continuous":[102],"learning":[103],"of":[104,145],"human":[109],"feedback.":[110],"Through":[111],"comprehensive":[112],"real-world":[113,159],"vehicle":[114],"experiments,":[115],"our":[116,146],"system":[117,157],"has":[118],"demonstrated":[119],"provide":[123],"safe,":[124],"comfortable,":[125],"experiences":[129],"across":[130],"various":[131],"scenarios":[132],"significantly":[134],"reduce":[135],"takeover":[136],"rates":[137],"by":[138],"up":[139],"76.9%.":[141],"To":[142],"best":[144],"knowledge,":[147],"work":[149],"represents":[150],"first":[152],"motion":[155],"in":[158],"vehicles.":[161],"The":[162],"demo":[163],"video":[164],"can":[165],"be":[166],"watched":[167],"at":[168],"https://tinyurl.com/4xsnz79n.":[169]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-03-07T16:01:11.037858","created_date":"2025-11-28T00:00:00"}