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A curated list of awesome knowledge-driven autonomous driving (continually updated)

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Awesome Knowledge-driven Autonomous Driving 🚙

Awesome Static Badge visitors

Here is a collection of research papers and the relevant valuable open-source resources for awesome knowledge-driven autonomous driving (AD). The repository will be continuously updated to track the frontier of knowledge-driven AD.

🌟 Welcome to star and contribute to (PR) this awesome knowledge-driven AD! 🌟

[2023.12.08] New: We release the survey 'Towards Knowledge-driven Autonomous Driving'! 
[2023.10.24] New: We release the awesome knowledge-driven AD! 

📃 Outline

🎨 Overview of knowledge-driven AD

The autonomous driving community has witnessed substantial growth in approaches that embrace a knowledge-driven paradigm. Here, we delve into knowledge-driven autonomous driving, exploring motivations, components, challenges, and prospects. More details of knowledge-driven autonomous driving can be found in our paper.


Key components in knowledge-driven AD.

📚 Papers

Dataset & Benchmark

Knowledge-aug. Dataset Sensors Knowledge Form Tasks Metrics
BDD-X C Explanation Vehicle Control, Explanation Generation, Scene Captioning MAE, MDC, BLEU-4, METEOR, CIDEr-D
Cityscapes-Ref C Object Referral, Gaze Heatmap Object Referring Acc@1
DR(eye)VE C Gaze Heatmap Gaze Prediction CC, KLD, IG
HAD C Advice Vehicle Control MAE, MDC
Talk2Car C+L+R Object Referral Object Referring IoU@0.5
DADA-2000 C Gaze Heatmap, Crash Objects, Accident Window Gaze Prediction CC, KLD, NSS, SIM
HDBD C Gaze Heatmap, Takeover Intention Driver Takeover Detection AUC
Refer-KITTI C+L Object Referral Object Referring, Object Tracking HOTA
DRAMA C Advice, Risk Localization Motion Planning L2 Error, Collision Rate
Rank2Tell C+L Object Referral, Importance Ranking Importance Estimation, Scene Captioning F1 Score, Accuracy, BLEU-4, METEOR, ROUGE, CIDER
DriveLM C Scene Captioning, Question Answering Scene Captioning, Question Answering, Vehicle Control ADE, FDE, Accuracy, Collision Rate, SPICE, GPT-Score
NuScenes-QA C+L+R Question Answering Question Answering Exist, Count, Object, Status, Comparison, Acc
DESIGN C+L+R Scene Captioning, Question Answering Question Answering, Motion Planning BLEU-4, METEOR, ROUGE, L2 Error, Collision Rate
Reason2Drive C+L Question Answering Question Answering BLEU-4, METEOR, ROUGE, CIDER
NuScenes-MQA C+L+R Question Answering Question Answering BLEU-4, METEOR, ROUGE
LangAuto C+L Navigation Instructions, Notice Instructions Vehicle Control RC, IS, DS
DriveMLM C+L Question Answering, User Instructions Vehicle Control, Decision Explanation RC, IS, DS, BLEU-4, METEOR, CIDER
NuInstruct C Scene-, Frame-, Ego-, Instance Information, Question Answering Question Answering, Scene Captioning MAE, Accuracy, BLEU-4, mAP

Environment

Driver Agent

📋 Survey

🎓 Tutorial

🔖 Citation

If you find our paper useful, please kindly cite us via:

@article{li2023knowledgedriven,
  title={Towards Knowledge-driven Autonomous Driving},
  author={Li, Xin and Bai, Yeqi and Cai, Pinlong and Wen, Licheng and Fu, Daocheng and Zhang, Bo and Yang, Xuemeng and Cai, Xinyu and Ma, Tao and Guo, Jianfei and Gao, Xing and Dou, Min and Shi, Botian and Liu, Yong and He, Liang and Qiao, Yu},
  journal={arXiv preprint arXiv:2312.04316},
  year = {2023}
}

📝 License

Awesome Knowledge-driven Autonomous Driving is released under the Apache 2.0 license.