DriVLMe: Enhancing LLM-based Autonomous Driving Agents with Embodied and Social Experiences

Yidong Huang; Jacob Sansom; Ziqiao Ma; Felix Gervits; Joyce Chai

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arXiv · 2406.03008

DriVLMe: Enhancing LLM-based Autonomous Driving Agents with Embodied and Social Experiences

Yidong Huang·Jacob Sansom·Ziqiao Ma·Felix Gervits·Joyce Chai

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Abstract

Recent advancements in foundation models (FMs) have unlocked new prospects in autonomous driving, yet the experimental settings of these studies are preliminary, over-simplified, and fail to capture the complexity of real-world driving scenarios in human environments. It remains under-explored whether FM agents can handle long-horizon navigation tasks with free-from dialogue and deal with unexpected situations caused by environmental dynamics or task changes. To explore the capabilities and boundaries of FMs faced with the challenges above, we introduce DriVLMe, a video-language-model-based agent to facilitate natural and effective communication between humans and autonomous vehicles that perceive the environment and navigate. We develop DriVLMe from both embodied experiences in a simulated environment and social experiences from real human dialogue. While DriVLMe demonstrates competitive performance in both open-loop benchmarks and closed-loop human studies, we reveal several limitations and challenges, including unacceptable inference time, imbalanced training data, limited visual understanding, challenges with multi-turn interactions, simplified language generation from robotic experiences, and difficulties in handling on-the-fly unexpected situations like environmental dynamics and task changes.

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Yidong Huang, Jacob Sansom, Ziqiao Ma, Felix Gervits, Joyce Chai. 2024-10-15. DriVLMe: Enhancing LLM-based Autonomous Driving Agents with Embodied and Social Experiences. https://arxiv.org/abs/2406.03008

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