Fen Fang

Advancing from usable to collaborative autonomy requires driving systems to execute passenger instructions safely and reliably. This work formulates instruction realization as scheduling across multiple motion planners and presents a dual-loop framework that provides a transparent decision chain...

LVLMs have achieved strong multimodal reasoning capabilities but remain prone to hallucinations, producing outputs inconsistent with visual inputs or user instructions. Existing training-free methods, including contrastive decoding and auxiliary expert models, which incur several times more compu...