{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/rag-driver-generalisable-driving-explanations","title":"RAG-Driver: Generalisable Driving Explanations with Retrieval-Augmented In-Context Learning in Multi-Modal Large Language Model","arxiv_id":"2402.10828","date":"2024-02-16","proceeding":null,"authors":["Jianhao Yuan","Shuyang Sun","Daniel Omeiza","Bo Zhao","Paul Newman","Lars Kunze","Matthew Gadd"],"abstract":"We need to trust robots that use often opaque AI methods. They need to explain themselves to us, and we need to trust their explanation. In this regard, explainability plays a critical role in trustworthy autonomous decision-making to foster transparency and acceptance among end users, especially in complex autonomous driving. Recent advancements in Multi-Modal Large Language models (MLLMs) have shown promising potential in enhancing the explainability as a driving agent by producing control predictions along with natural language explanations. However, severe data scarcity due to expensive annotation costs and significant domain gaps between different datasets makes the development of a robust and generalisable system an extremely challenging task. Moreover, the prohibitively expensive training requirements of MLLM and the unsolved problem of catastrophic forgetting further limit their generalisability post-deployment. To address these challenges, we present RAG-Driver, a novel retrieval-augmented multi-modal large language model that leverages in-context learning for high-performance, explainable, and generalisable autonomous driving. By grounding in retrieved expert demonstration, we empirically validate that RAG-Driver achieves state-of-the-art performance in producing driving action explanations, justifications, and control signal prediction. More importantly, it exhibits exceptional zero-shot generalisation capabilities to unseen environments without further training endeavours.","url_abs":"https://arxiv.org/abs/2402.10828v2","url_pdf":"https://arxiv.org/pdf/2402.10828v2.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"rag-driver-generalisable-driving-explanations","repo_url":"https://github.com/YuanJianhao508/RAG-Driver","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"pytorch","reach":null}],"tasks":[{"task_slug":"autonomous-driving","task_name":"Autonomous Driving"},{"task_slug":"decision-making","task_name":"Decision Making"},{"task_slug":"in-context-learning","task_name":"In-Context Learning"},{"task_slug":"language-modeling","task_name":"Language Modeling"},{"task_slug":"language-modelling","task_name":"Language Modelling"},{"task_slug":"large-language-model","task_name":"Large Language Model"},{"task_slug":"rag","task_name":"RAG"},{"task_slug":"retrieval","task_name":"Retrieval"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=2402.10828","mcp":{"get_harvested_code_for_paper":{"arxiv_id":"2402.10828"}},"developers":"https://syntology.ai/developers","read_at":"2026-09-24T18:15:14+00:00","read_at_is":"when the build read Syntology's graph, not when any sample ran","claim":"Per-sample execution status on synthesized fixtures; not a correctness claim about the paper. Samples come from repositories linked to the paper, official or community; repo_kind says which.","repos":[{"provenance":"external:paperswithcode_snapshot_2025-07-28","url":"https://github.com/YuanJianhao508/RAG-Driver","reach":null}],"summary":{"ran_draft_wrong":1,"unverified":1},"by_repo_kind":{"listed":{"samples":2,"ran":1,"repositories":1}},"repo_kind_vocabulary":{"official":"The archive marks this repository official for the paper","named_in_paper":"The archive records that the paper mentions this repository; it is not marked official","listed":"In the archive's code links for this paper, not marked official and not recorded as mentioned in the paper","found_in_text":"Syntology found this repository in the paper's own text; whether it is the authors' implementation is not asserted","community":"Not in the archive's code links for this paper; a community repository Syntology harvested"},"n_pointer_only_for_licence":0,"samples":[{"code_sha256_prefix":"a4760c8d50adce24","entry":"load_json_file","repo":"YuanJianhao508/RAG-Driver","repo_kind":"listed","path":"evaluate.py","file_url":"https://github.com/YuanJianhao508/RAG-Driver/blob/HEAD/evaluate.py","link_basis":"first_harvest_node","language":"python","status":"ran_draft_wrong","verification_level":1,"contract_check":"OUTPUT_MISDECLARED","metamorphic_tier":"deterministic","behaviour_fingerprint":false,"licence":"Apache-2.0","inline_ok":true,"mcp_get_code":{"code_sha256":"a4760c8d50adce24"}},{"code_sha256_prefix":"13e9698f846d3057","entry":"evaluate_signal","repo":"YuanJianhao508/RAG-Driver","repo_kind":"listed","path":"evaluate.py","file_url":"https://github.com/YuanJianhao508/RAG-Driver/blob/HEAD/evaluate.py","link_basis":"first_harvest_node","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"Apache-2.0","inline_ok":true,"mcp_get_code":{"code_sha256":"13e9698f846d3057"}}]},"arxiv_metadata":null,"syntology_extracted_results":null}