ALN-P3 adds three alignment losses between a driving stack and a language model during training, improving both planning safety and language reasoning on nuScenes, Nu-X, TOD3Cap, and nuScenes-QA.
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ALN-P3: Unified Language Alignment for Perception, Prediction, and Planning in Autonomous Driving
ALN-P3 adds three alignment losses between a driving stack and a language model during training, improving both planning safety and language reasoning on nuScenes, Nu-X, TOD3Cap, and nuScenes-QA.