Prompting Multi-Modal Tokens to Enhance End-to-End Autonomous Driving Imitation Learning with LLMs
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arXiv
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| Format: | Preprint |
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2024
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| author | Duan, Yiqun Zhang, Qiang Xu, Renjing |
| author_facet | Duan, Yiqun Zhang, Qiang Xu, Renjing |
| contents | The utilization of Large Language Models (LLMs) within the realm of reinforcement learning, particularly as planners, has garnered a significant degree of attention in recent scholarly literature. However, a substantial proportion of existing research predominantly focuses on planning models for robotics that transmute the outputs derived from perception models into linguistic forms, thus adopting a `pure-language' strategy. In this research, we propose a hybrid End-to-End learning framework for autonomous driving by combining basic driving imitation learning with LLMs based on multi-modality prompt tokens. Instead of simply converting perception results from the separated train model into pure language input, our novelty lies in two aspects. 1) The end-to-end integration of visual and LiDAR sensory input into learnable multi-modality tokens, thereby intrinsically alleviating description bias by separated pre-trained perception models. 2) Instead of directly letting LLMs drive, this paper explores a hybrid setting of letting LLMs help the driving model correct mistakes and complicated scenarios. The results of our experiments suggest that the proposed methodology can attain driving scores of 49.21%, coupled with an impressive route completion rate of 91.34% in the offline evaluation conducted via CARLA. These performance metrics are comparable to the most advanced driving models. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2404_04869 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Prompting Multi-Modal Tokens to Enhance End-to-End Autonomous Driving Imitation Learning with LLMs Duan, Yiqun Zhang, Qiang Xu, Renjing Robotics Artificial Intelligence The utilization of Large Language Models (LLMs) within the realm of reinforcement learning, particularly as planners, has garnered a significant degree of attention in recent scholarly literature. However, a substantial proportion of existing research predominantly focuses on planning models for robotics that transmute the outputs derived from perception models into linguistic forms, thus adopting a `pure-language' strategy. In this research, we propose a hybrid End-to-End learning framework for autonomous driving by combining basic driving imitation learning with LLMs based on multi-modality prompt tokens. Instead of simply converting perception results from the separated train model into pure language input, our novelty lies in two aspects. 1) The end-to-end integration of visual and LiDAR sensory input into learnable multi-modality tokens, thereby intrinsically alleviating description bias by separated pre-trained perception models. 2) Instead of directly letting LLMs drive, this paper explores a hybrid setting of letting LLMs help the driving model correct mistakes and complicated scenarios. The results of our experiments suggest that the proposed methodology can attain driving scores of 49.21%, coupled with an impressive route completion rate of 91.34% in the offline evaluation conducted via CARLA. These performance metrics are comparable to the most advanced driving models. |
| title | Prompting Multi-Modal Tokens to Enhance End-to-End Autonomous Driving Imitation Learning with LLMs |
| topic | Robotics Artificial Intelligence |
| url | https://arxiv.org/abs/2404.04869 |