# Talk to Me, Jarvis: An Open-Source Edge-Deployable Voice Assistant Framework for Autonomous Racecars

arXiv: https://arxiv.org/abs/2609.21109 · HTML: https://mlsanity.com/paper/2609.21109/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 32 of its 38 references that are in the map.
- First posted on arXiv 17 Sep 2026.

## Builds on (most cited first, 30 of 32)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [GPT-4 Technical Report](https://mlsanity.com/paper/2303.08774/) (2023)
- [The Llama 3 Herd of Models](https://mlsanity.com/paper/2407.21783/) (2024)
- [LoRA: Low-Rank Adaptation of Large Language Models](https://mlsanity.com/paper/2106.09685/) (2021)
- [Visual Instruction Tuning](https://mlsanity.com/paper/2304.08485/) (2023)
- [Robust Speech Recognition via Large-Scale Weak Supervision](https://mlsanity.com/paper/2212.04356/) (2022)
- [QLoRA: Efficient Finetuning of Quantized LLMs](https://mlsanity.com/paper/2305.14314/) (2023)
- [Phi-3 Technical Report: A Highly Capable Language Model Locally on Your Phone](https://mlsanity.com/paper/2404.14219/) (2024)
- [GLU Variants Improve Transformer](https://mlsanity.com/paper/2002.05202/) (2020)
- [EDA: Easy Data Augmentation Techniques for Boosting Performance on Text Classification Tasks](https://mlsanity.com/paper/1901.11196/) (2019)
- [Distilling Step-by-Step! Outperforming Larger Language Models with Less Training Data and Smaller Model Sizes](https://mlsanity.com/paper/2305.02301/) (2023)
- [Conditional Variational Autoencoder with Adversarial Learning for End-to-End Text-to-Speech](https://mlsanity.com/paper/2106.06103/) (2021)
- [DriveLM: Driving with Graph Visual Question Answering](https://mlsanity.com/paper/2312.14150/) (2023)
- [DriveGPT4: Interpretable End-to-end Autonomous Driving via Large Language Model](https://mlsanity.com/paper/2310.01412/) (2023)
- [GPT-Driver: Learning to Drive with GPT](https://mlsanity.com/paper/2310.01415/) (2023)
- [A Survey on Multimodal Large Language Models for Autonomous Driving](https://mlsanity.com/paper/2311.12320/) (2023)
- [Driving with LLMs: Fusing Object-Level Vector Modality for Explainable Autonomous Driving](https://mlsanity.com/paper/2310.01957/) (2023)
- [LanguageMPC: Large Language Models as Decision Makers for Autonomous Driving](https://mlsanity.com/paper/2310.03026/) (2023)
- [MiniLLM: On-Policy Distillation of Large Language Models](https://mlsanity.com/paper/2306.08543/) (2023)
- [Small Language Models: Survey, Measurements, and Insights](https://mlsanity.com/paper/2409.15790/) (2024)
- [AEDA: An Easier Data Augmentation Technique for Text Classification](https://mlsanity.com/paper/2108.13230/) (2021)
- [Autonomous Vehicles on the Edge: A Survey on Autonomous Vehicle Racing](https://mlsanity.com/paper/2202.07008/) (2022)
- [Driving Everywhere with Large Language Model Policy Adaptation](https://mlsanity.com/paper/2402.05932/) (2024)
- [Soft Contextual Data Augmentation for Neural Machine Translation](https://mlsanity.com/paper/1905.10523/) (2019)
- [A Comprehensive Survey on Data Augmentation](https://mlsanity.com/paper/2405.09591/) (2024)
- [Human-Centric Autonomous Systems With LLMs for User Command Reasoning](https://mlsanity.com/paper/2311.08206/) (2023)
- [From Words to Actions: Unveiling the Theoretical Underpinnings of LLM-Driven Autonomous Systems](https://mlsanity.com/paper/2405.19883/) (2024)
- [LLM4AD: Large Language Models for Autonomous Driving -- Concept, Review, Benchmark, Experiments, and Future Trends](https://mlsanity.com/paper/2410.15281/) (2024)
- [Automatic Speech Recognition in the Modern Era: Architectures, Training, and Evaluation](https://mlsanity.com/paper/2510.12827/) (2025)
- [Improving Speech Recognition Accuracy Using Custom Language Models with the Vosk Toolkit](https://mlsanity.com/paper/2503.21025/) (2025)

## Abstract (arXiv)

Recent advances in large language models have improved their effectiveness as back-end components for voice assistants, particularly in intent understanding and context-aware input classification. However, online-hosted models introduce network dependency and variable inference latency, limiting their suitability for time-critical autonomous driving applications. In this work, we address these issues by developing Jarvis, an offline voice assistant for high-level behavioral commands of autonomous vehicles. Its architecture integrates speech recognition and synthesis with natural language command classification into a lightweight, local framework. Jarvis core component is a text-to-command classifier, built using a domain-specific fine-tuning of the Mistral 7B model, demonstrating low-latency inference. Our experimental evaluation demonstrates that our solution outperforms larger online-hosted models, achieving 97.63 % intent recognition accuracy with an average processing latency of 1.39 s, making it well-suited for operations requiring quick response times. To support further research and fine-tuning, we provide an open-source implementation.