"Dear LLaVA, Please Drive": A Depth-Aware Vision-Language Agent for Closed-Loop Robotic Control

arXiv:2609.22925 · cs.RO · Submitted 2026-09-19 · Read on arXiv

cs.RO

Submitted: 2026-09-19

Updated: 2026-09-19

Code: https://github.com/Intelligent-Vehicles-Lab-HM/dear-llava

Terminology

• Grounding — 15× in this paper · explained in 3 episodes
• Fine-Tuning — 8× in this paper · explained in 5 episodes
• Adaptation — 7× in this paper · explained in 1 episode
• Generalization — 4× in this paper · explained in 13 episodes
• Vision-language models — 4× in this paper · explained in 2 episodes
• Ablation — 3× in this paper · explained in 1 episode
• Abstraction — 3× in this paper · explained in 1 episode
• Robustness — 3× in this paper · explained in 5 episodes
• Ablation Studies — 2× in this paper · explained in 1 episode
• Instruction Tuning — 2× in this paper · explained in 2 episodes
• LoRA Adapters — 2× in this paper · explained in 3 episodes
• Low-Rank Adaptation (LoRA) — 2× in this paper · explained in 9 episodes
• Sim-to-Real Transfer — 2× in this paper · explained in 2 episodes
• Trace — 2× in this paper · explained in 2 episodes
• Transferability — 2× in this paper · explained in 4 episodes
• AdamW Optimizer — 1× in this paper · explained in 1 episode
• Contextual Understanding — 1× in this paper · explained in 2 episodes
• Cooperation — 1× in this paper · explained in 2 episodes
• Domain Shift — 1× in this paper · explained in 4 episodes
• Downstream Tasks — 1× in this paper · explained in 2 episodes
• Fidelity — 1× in this paper · explained in 2 episodes
• Foundation Model — 1× in this paper · explained in 3 episodes
• Large Language Models (LLMs) — 1× in this paper · explained in 6 episodes
• LoRA Fine-Tuning — 1× in this paper · explained in 3 episodes
• Objective Function — 1× in this paper · explained in 2 episodes
• Parameter-Efficient Fine-Tuning — 1× in this paper · explained in 2 episodes
• Resource Constraints — 1× in this paper · explained in 3 episodes
• Semantic Understanding — 1× in this paper · explained in 2 episodes
• Transformer — 1× in this paper · explained in 2 episodes
• Visual Grounding — 1× in this paper · explained in 2 episodes

Sources

• On Evaluation of Embodied Navigation Agents

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