# Delving into Multi-modal Multi-task Foundation Models for Road Scene Understanding: From Learning Paradigm Perspectives

arXiv: https://arxiv.org/abs/2402.02968 · HTML: https://mlsanity.com/paper/2402.02968/

## Key facts

- Cited by 23 papers in the map (data through 14 Oct 2026).
- Builds on 224 of its 268 references that are in the map.
- First posted on arXiv 5 Feb 2024.

## Builds on (most cited first, 30 of 224)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [BERT: Pre-training of Deep Bidirectional Transformers for Language Understanding](https://mlsanity.com/paper/1810.04805/) (2018)
- [Learning Transferable Visual Models From Natural Language Supervision](https://mlsanity.com/paper/2103.00020/) (2021)
- [Language Models are Few-Shot Learners](https://mlsanity.com/paper/2005.14165/) (2020)
- [An Image is Worth 16x16 Words: Transformers for Image Recognition at Scale](https://mlsanity.com/paper/2010.11929/) (2020)
- [GPT-4 Technical Report](https://mlsanity.com/paper/2303.08774/) (2023)
- [Training language models to follow instructions with human feedback](https://mlsanity.com/paper/2203.02155/) (2022)
- [LoRA: Low-Rank Adaptation of Large Language Models](https://mlsanity.com/paper/2106.09685/) (2021)
- [LLaMA: Open and Efficient Foundation Language Models](https://mlsanity.com/paper/2302.13971/) (2023)
- [RoBERTa: A Robustly Optimized BERT Pretraining Approach](https://mlsanity.com/paper/1907.11692/) (2019)
- [Llama 2: Open Foundation and Fine-Tuned Chat Models](https://mlsanity.com/paper/2307.09288/) (2023)
- [Chain-of-Thought Prompting Elicits Reasoning in Large Language Models](https://mlsanity.com/paper/2201.11903/) (2022)
- [A Simple Framework for Contrastive Learning of Visual Representations](https://mlsanity.com/paper/2002.05709/) (2020)
- [Segment Anything](https://mlsanity.com/paper/2304.02643/) (2023)
- [Visual Instruction Tuning](https://mlsanity.com/paper/2304.08485/) (2023)
- [Momentum Contrast for Unsupervised Visual Representation Learning](https://mlsanity.com/paper/1911.05722/) (2019)
- [End-to-End Object Detection with Transformers](https://mlsanity.com/paper/2005.12872/) (2020)
- [Masked Autoencoders Are Scalable Vision Learners](https://mlsanity.com/paper/2111.06377/) (2021)
- [BLIP-2: Bootstrapping Language-Image Pre-training with Frozen Image Encoders and Large Language Models](https://mlsanity.com/paper/2301.12597/) (2023)
- [Overcoming catastrophic forgetting in neural networks](https://mlsanity.com/paper/1612.00796/) (2016)
- [Neural Discrete Representation Learning](https://mlsanity.com/paper/1711.00937/) (2017)
- [nuScenes: A multimodal dataset for autonomous driving](https://mlsanity.com/paper/1903.11027/) (2019)
- [The Cityscapes Dataset for Semantic Urban Scene Understanding](https://mlsanity.com/paper/1604.01685/) (2016)
- [Improved Baselines with Visual Instruction Tuning](https://mlsanity.com/paper/2310.03744/) (2023)
- [Flamingo: a Visual Language Model for Few-Shot Learning](https://mlsanity.com/paper/2204.14198/) (2022)
- [Scaling Up Visual and Vision-Language Representation Learning With Noisy Text Supervision](https://mlsanity.com/paper/2102.05918/) (2021)
- [RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control](https://mlsanity.com/paper/2307.15818/) (2023)
- [Scaling Instruction-Finetuned Language Models](https://mlsanity.com/paper/2210.11416/) (2022)
- [InstructBLIP: Towards General-purpose Vision-Language Models with Instruction Tuning](https://mlsanity.com/paper/2305.06500/) (2023)

## Built on by (most cited first, 23 of 23)

- [Object Detection with Multimodal Large Vision-Language Models: An In-depth Review](https://mlsanity.com/paper/2508.19294/) (2025)
- [Advancing Object Detection in Transportation with Multimodal Large Language Models (MLLMs): A Comprehensive Review and Empirical Testing](https://mlsanity.com/paper/2409.18286/) (2024)
- [Large Language Models and Their Applications in Roadway Safety and Mobility Enhancement: A Comprehensive Review](https://mlsanity.com/paper/2506.06301/) (2025)
- [XLM for Autonomous Driving Systems: A Comprehensive Review](https://mlsanity.com/paper/2409.10484/) (2024)
- [V-RoAst: Visual Road Assessment. Can VLM be a Road Safety Assessor Using the iRAP Standard?](https://mlsanity.com/paper/2408.10872/) (2024)
- [A Review of 3D Object Detection with Vision-Language Models](https://mlsanity.com/paper/2504.18738/) (2025)
- [OmniTrack++: Omnidirectional Multi-Object Tracking by Learning Large-FoV Trajectory Feedback](https://mlsanity.com/paper/2511.00510/) (2025)
- [TiCoSS: Tightening the Coupling between Semantic Segmentation and Stereo Matching within A Joint Learning Framework](https://mlsanity.com/paper/2407.18038/) (2024)
- [Multifaceted Evaluation of Audio-Visual Capability for MLLMs: Effectiveness, Efficiency, Generalizability and Robustness](https://mlsanity.com/paper/2504.16936/) (2025)
- [Multi-Modal Multi-Task Federated Foundation Models for Next-Generation Extended Reality Systems: Towards Privacy-Preserving Distributed Intelligence in AR/VR/MR](https://mlsanity.com/paper/2506.05683/) (2025)
- [Edge-Based Multimodal Sensor Data Fusion with Vision Language Models (VLMs) for Real-time Autonomous Vehicle Accident Avoidance](https://mlsanity.com/paper/2508.01057/) (2025)
- [Multi-Agent Visual-Language Reasoning for Comprehensive Highway Scene Understanding](https://mlsanity.com/paper/2508.17205/) (2025)
- [Multi-label Scene Classification for Autonomous Vehicles: Acquiring and Accumulating Knowledge from Diverse Datasets](https://mlsanity.com/paper/2506.17101/) (2025)
- [Reinforcement Learning for Adaptive Planner Parameter Tuning: A Perspective on Hierarchical Architecture](https://mlsanity.com/paper/2503.18366/) (2025)
- [Turning Generators into Retrievers: Unlocking MLLMs for Natural Language-Guided Geo-Localization](https://mlsanity.com/paper/2604.10721/) (2026)
- [TWIST & SCOUT: Grounding Multimodal LLM-Experts by Forget-Free Tuning](https://mlsanity.com/paper/2410.10491/) (2024)
- [Perceiving, Reasoning, Adapting: A Dual-Layer Framework for VLM-Guided Precision Robotic Manipulation](https://mlsanity.com/paper/2503.05064/) (2025)
- [Universal Incremental Learning: Mitigating Confusion from Inter- and Intra-task Distribution Randomness](https://mlsanity.com/paper/2503.07035/) (2025)
- [A Survey on Deep Multi-Task Learning in Connected Autonomous Vehicles](https://mlsanity.com/paper/2508.00917/) (2025)
- [Hallucination-aware intermediate representation edit in large vision-language models](https://mlsanity.com/paper/2603.29405/) (2026)
- [Behavior-Grounded Lane Representation Learning for Multi-Task Traffic Digital Twins](https://mlsanity.com/paper/2605.01901/) (2026)
- [TextDS: Parameter-Efficient Representation Alignment for Scene Text Detection under Distribution Shifts](https://mlsanity.com/paper/2606.28077/) (2026)
- [Absence is Presence: Understanding Visual Scene Negative Events Under Safety Cognitive Constraint](https://mlsanity.com/paper/2609.19812/) (2026)

## Abstract (arXiv)

Foundation models have indeed made a profound impact on various fields, emerging as pivotal components that significantly shape the capabilities of intelligent systems. In the context of intelligent vehicles, leveraging the power of foundation models has proven to be transformative, offering notable advancements in visual understanding. Equipped with multi-modal and multi-task learning capabilities, multi-modal multi-task visual understanding foundation models (MM-VUFMs) effectively process and fuse data from diverse modalities and simultaneously handle various driving-related tasks with powerful adaptability, contributing to a more holistic understanding of the surrounding scene. In this survey, we present a systematic analysis of MM-VUFMs specifically designed for road scenes. Our objective is not only to provide a comprehensive overview of common practices, referring to task-specific models, unified multi-modal models, unified multi-task models, and foundation model prompting techniques, but also to highlight their advanced capabilities in diverse learning paradigms. These paradigms include open-world understanding, efficient transfer for road scenes, continual learning, interactive and generative capability. Moreover, we provide insights into key challenges and future trends, such as closed-loop driving systems, interpretability, embodied driving agents, and world models. To facilitate researchers in staying abreast of the latest developments in MM-VUFMs for road scenes, we have established a continuously updated repository at https://github.com/rolsheng/MM-VUFM4DS