# FleetAgent: Teleoperation Assistant for Autonomous Fleets via Vectorized V2N Messages

arXiv: https://arxiv.org/abs/2606.21222 · HTML: https://mlsanity.com/paper/2606.21222/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 22 of its 36 references that are in the map.
- First posted on arXiv 19 Jun 2026.

## Builds on (most cited first, 22 of 22)

- [Qwen2.5-VL Technical Report](https://mlsanity.com/paper/2502.13923/) (2025)
- [Categorical Reparameterization with Gumbel-Softmax](https://mlsanity.com/paper/1611.01144/) (2016)
- [DriveLM: Driving with Graph Visual Question Answering](https://mlsanity.com/paper/2312.14150/) (2023)
- [NuPlan: A closed-loop ML-based planning benchmark for autonomous vehicles](https://mlsanity.com/paper/2106.11810/) (2021)
- [DriveVLM: The Convergence of Autonomous Driving and Large Vision-Language Models](https://mlsanity.com/paper/2402.12289/) (2024)
- [DriveGPT4: Interpretable End-to-end Autonomous Driving via Large Language Model](https://mlsanity.com/paper/2310.01412/) (2023)
- [NuScenes-QA: A Multi-modal Visual Question Answering Benchmark for Autonomous Driving Scenario](https://mlsanity.com/paper/2305.14836/) (2023)
- [EMMA: End-to-End Multimodal Model for Autonomous Driving](https://mlsanity.com/paper/2410.23262/) (2024)
- [Textual Explanations for Self-Driving Vehicles](https://mlsanity.com/paper/1807.11546/) (2018)
- [ReCogDrive: A Reinforced Cognitive Framework for End-to-End Autonomous Driving](https://mlsanity.com/paper/2506.08052/) (2025)
- [OpenDriveVLA: Towards End-to-end Autonomous Driving with Large Vision Language Action Model](https://mlsanity.com/paper/2503.23463/) (2025)
- [LingoQA: Visual Question Answering for Autonomous Driving](https://mlsanity.com/paper/2312.14115/) (2023)
- [Language Prompt for Autonomous Driving](https://mlsanity.com/paper/2309.04379/) (2023)
- [Holistic Autonomous Driving Understanding by Bird's-Eye-View Injected Multi-Modal Large Models](https://mlsanity.com/paper/2401.00988/) (2024)
- [Hint-AD: Holistically Aligned Interpretability in End-to-End Autonomous Driving](https://mlsanity.com/paper/2409.06702/) (2024)
- [NuPlanQA: A Large-Scale Dataset and Benchmark for Multi-View Driving Scene Understanding in Multi-Modal Large Language Models](https://mlsanity.com/paper/2503.12772/) (2025)
- [QuantV2X: A Fully Quantized Multi-Agent System for Cooperative Perception](https://mlsanity.com/paper/2509.03704/) (2025)
- [ALN-P3: Unified Language Alignment for Perception, Prediction, and Planning in Autonomous Driving](https://mlsanity.com/paper/2505.15158/) (2025)
- [GoonDAE: Denoising-Based Driver Assistance for Off-Road Teleoperation](https://mlsanity.com/paper/2209.03568/) (2022)
- [A Supervised Machine Learning Approach to Operator Intent Recognition for Teleoperated Mobile Robot Navigation](https://mlsanity.com/paper/2304.14003/) (2023)
- [Should Teleoperation Be like Driving in a Car? Comparison of Teleoperation HMIs](https://mlsanity.com/paper/2404.13697/) (2024)
- [5G-Enabled Teleoperated Driving: An Experimental Evaluation](https://mlsanity.com/paper/2503.14186/) (2025)

## Abstract (arXiv)

Large-scale autonomous fleets rely on teleoperation to resolve rare failures, yet streaming raw sensor data from many vehicles is costly, and remote operators can only monitor a limited number of vehicles at a time. We introduce FleetAgent, a cloud-hosted multimodal large language model (MLLM) assistant that consumes compact vectorized vehicle-to-network (V2N) messages, such as map elements, detected objects, and the ego planned path. It provides a structured natural-language response (including narration, explanation, and evaluation of the plan and scene), along with an intervention urgency score for operator prioritization. To make structured messages compatible with token-based MLLMs, we propose VecFormer, a vector-to-embedding interface with differentiable top-K context selection that bounds context length and GPU KV-cache growth, enabling more efficient batch processing, which is important under the context of cloud-hosted large-scale fleet management. We also construct VecEval, a nuScenes-derived dataset with paired human and synthetic imperfect plans and human-verified language labels, to facilitate the training and evaluation of our proposed system. Our proposed system can reduce uplink payload by up to 625 times compared with raw images and reduce KV-cache memory by 16.54 times compared with original text descriptions. On VecEval, FleetAgent improves Lingo-Judge score by 16.8% and reduces intervention failure rate by 19.9%, compared with Qwen2.5-VL-7B using language descriptions. These results demonstrate that FleetAgent can utilize compact structured V2N messaging to enable efficient, explainable teleoperation monitoring for autonomous fleets.