{"id":"https://openalex.org/W7133325947","doi":"https://doi.org/10.48550/arxiv.2603.00694","title":"Wild-Drive: Off-Road Scene Captioning and Path Planning via Robust Multi-modal Routing and Efficient Large Language Model","display_name":"Wild-Drive: Off-Road Scene Captioning and Path Planning via Robust Multi-modal Routing and Efficient Large Language Model","publication_year":2026,"publication_date":"2026-02-28","ids":{"openalex":"https://openalex.org/W7133325947","doi":"https://doi.org/10.48550/arxiv.2603.00694"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.00694","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.00694","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"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":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2603.00694","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5127934636","display_name":"Zihang Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Wang, Zihang","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5127925192","display_name":"Xu Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Xu","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5127918485","display_name":"Benwu Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Benwu","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5127995619","display_name":"Wenkai Zhu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhu, Wenkai","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5127874192","display_name":"Xieyuanli Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Xieyuanli","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057379701","display_name":"Dong Kong","orcid":"https://orcid.org/0000-0002-1864-423X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kong, Dong","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110962115","display_name":"Kailin Lyu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lyu, Kailin","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5127981661","display_name":"Yinan Du","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Du, Yinan","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128032095","display_name":"Yiming Peng","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Peng, Yiming","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5106771917","display_name":"Haoyang Che","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Che, Haoyang","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":10,"corresponding_author_ids":["https://openalex.org/A5127934636"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9810000061988831,"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":0.9810000061988831,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.004399999976158142,"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/T10775","display_name":"Generative Adversarial Networks and Image Synthesis","score":0.00139999995008111,"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/closed-captioning","display_name":"Closed captioning","score":0.9746000170707703},{"id":"https://openalex.org/keywords/security-token","display_name":"Security token","score":0.6039000153541565},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.555400013923645},{"id":"https://openalex.org/keywords/encoder","display_name":"Encoder","score":0.5044000148773193},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4724000096321106},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.46470001339912415},{"id":"https://openalex.org/keywords/natural-language","display_name":"Natural language","score":0.3937000036239624},{"id":"https://openalex.org/keywords/bridge","display_name":"Bridge (graph theory)","score":0.3440999984741211}],"concepts":[{"id":"https://openalex.org/C157657479","wikidata":"https://www.wikidata.org/wiki/Q2367247","display_name":"Closed captioning","level":3,"score":0.9746000170707703},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7925000190734863},{"id":"https://openalex.org/C48145219","wikidata":"https://www.wikidata.org/wiki/Q1335365","display_name":"Security token","level":2,"score":0.6039000153541565},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.555400013923645},{"id":"https://openalex.org/C118505674","wikidata":"https://www.wikidata.org/wiki/Q42586063","display_name":"Encoder","level":2,"score":0.5044000148773193},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4724000096321106},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.46470001339912415},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.45159998536109924},{"id":"https://openalex.org/C195324797","wikidata":"https://www.wikidata.org/wiki/Q33742","display_name":"Natural language","level":2,"score":0.3937000036239624},{"id":"https://openalex.org/C100776233","wikidata":"https://www.wikidata.org/wiki/Q2532492","display_name":"Bridge (graph theory)","level":2,"score":0.3440999984741211},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.3409999907016754},{"id":"https://openalex.org/C74172769","wikidata":"https://www.wikidata.org/wiki/Q1446839","display_name":"Routing (electronic design automation)","level":2,"score":0.3384999930858612},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.32679998874664307},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3125999867916107},{"id":"https://openalex.org/C4679612","wikidata":"https://www.wikidata.org/wiki/Q866298","display_name":"Aggregate (composite)","level":2,"score":0.30630001425743103},{"id":"https://openalex.org/C137293760","wikidata":"https://www.wikidata.org/wiki/Q3621696","display_name":"Language model","level":2,"score":0.30489999055862427},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.30140000581741333},{"id":"https://openalex.org/C125411270","wikidata":"https://www.wikidata.org/wiki/Q18653","display_name":"Encoding (memory)","level":2,"score":0.275299996137619},{"id":"https://openalex.org/C2776187449","wikidata":"https://www.wikidata.org/wiki/Q1513879","display_name":"Natural language generation","level":3,"score":0.2727000117301941},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.2538999915122986},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.2533000111579895},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.25270000100135803}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.00694","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.00694","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"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":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2603.00694","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.00694","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"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":"article"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.8297085165977478}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Explainability":[0],"and":[1,19,28,53,55,67,84,92,121,132,148,160,171,180],"transparent":[2],"decision-making":[3],"are":[4,43],"essential":[5],"for":[6,80],"the":[7,139],"safe":[8],"deployment":[9],"of":[10],"autonomous":[11],"driving":[12],"systems.":[13],"Scene":[14],"captioning":[15,66,83,147],"summarizes":[16],"environmental":[17],"conditions":[18],"risk":[20],"factors":[21],"in":[22,39],"natural":[23],"language,":[24],"improving":[25],"transparency,":[26],"safety,":[27],"human--robot":[29],"interaction.":[30],"However,":[31],"most":[32],"existing":[33],"approaches":[34],"target":[35],"structured":[36,64,130,144],"urban":[37],"scenarios;":[38],"off-road":[40,81,145],"environments,":[41],"they":[42,56],"vulnerable":[44],"to":[45,99,128],"single-modality":[46],"degradations":[47],"caused":[48],"by":[49],"rain,":[50],"fog,":[51],"snow,":[52],"darkness,":[54],"lack":[57],"a":[58,94,118,122,161],"unified":[59],"framework":[60,79],"that":[61,165],"jointly":[62],"models":[63],"scene":[65,82,146],"path":[68,85,149],"planning.":[69,86],"To":[70],"bridge":[71],"this":[72],"gap,":[73],"we":[74],"propose":[75],"Wild-Drive,":[76],"an":[77,110],"efficient":[78,111],"Wild-Drive":[87,166],"adopts":[88],"modern":[89],"multimodal":[90],"encoders":[91],"introduces":[93],"task-conditioned":[95],"modality-routing":[96],"bridge,":[97],"MoRo-Former,":[98],"adaptively":[100],"aggregate":[101],"reliable":[102],"information":[103],"under":[104,151,175],"degraded":[105,176],"sensing.":[106,177],"It":[107],"then":[108],"integrates":[109],"large":[112],"language":[113],"model":[114],"(LLM),":[115],"together":[116],"with":[117],"planning":[119,150],"token":[120],"gate":[123],"recurrent":[124],"unit":[125],"(GRU)":[126],"decoder,":[127],"generate":[129],"captions":[131],"predict":[133],"future":[134],"trajectories.":[135],"We":[136],"also":[137],"build":[138],"OR-C2P":[140,158],"Benchmark,":[141],"which":[142],"covers":[143],"diverse":[152],"sensor":[153],"corruption":[154],"conditions.":[155],"Experiments":[156],"on":[157],"dataset":[159,163],"self-collected":[162],"show":[164],"outperforms":[167],"prior":[168],"LLM-based":[169],"methods":[170],"remains":[172],"more":[173],"stable":[174],"The":[178],"code":[179],"benchmark":[181],"will":[182],"be":[183],"publicly":[184],"available":[185],"at":[186],"https://github.com/wangzihanggg/Wild-Drive.":[187]},"counts_by_year":[],"updated_date":"2026-03-04T07:09:34.246503","created_date":"2026-03-04T00:00:00"}
