Zi-Lin Huang

HERMES: A Holistic End-to-End Risk-Aware Multimodal Embodied System with Vision-Language Models for Long-Tail Autonomous Driving

HerMES is proposed, a holistic risk-aware end-to-end multimodal driving framework that explicitly incorporates long-tail semantic knowledge into trajectory planning and demonstrates consistent improvements over representative recent baselines in overall planning performance and across diverse safety-critical scenarios.