DiLu: 大規模言語モデルによる知識駆動型自動運転
DiLu: A Knowledge-Driven Approach to Autonomous Driving with Large Language Models
大規模言語モデルに推論と内省のモジュールを組み合わせ、常識的知識に基づく意思決定と経験の蓄積を可能にする自動運転フレームワークDiLuを提案した。
著者: Licheng Wen, Daocheng Fu, Xin Li, Xinyu Cai, Tao Ma, Pinlong Cai, Min Dou, Botian Shi, Liang He, Yu Qiao
分類: cs.RO, cs.CL
原文アブストラクト
Recent advancements in autonomous driving have relied on data-driven approaches, which are widely adopted but face challenges including dataset bias, overfitting, and uninterpretability. Drawing inspiration from the knowledge-driven nature of human driving, we explore the question of how to instill similar capabilities into autonomous driving systems and summarize a paradigm that integrates an interactive environment, a driver agent, as well as a memory component to address this question. Leveraging large language models (LLMs) with emergent abilities, we propose the DiLu framework, which combines a Reasoning and a Reflection module to enable the system to perform decision-making based on common-sense knowledge and evolve continuously. Extensive experiments prove DiLu's capability to accumulate experience and demonstrate a significant advantage in generalization ability over reinforcement learning-based methods. Moreover, DiLu is able to directly acquire experiences from real-world datasets which highlights its potential to be deployed on practical autonomous driving systems. To the best of our knowledge, we are the first to leverage knowledge-driven capability in decision-making for autonomous vehicles. Through the proposed DiLu framework, LLM is strengthened to apply knowledge and to reason causally in the autonomous driving domain. Project page: https://pjlab-adg.github.io/DiLu/
