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The Commands For Autonomous Vehicles (C4AV) challenge requires participantsto solve an object referral task in a real-world setting. More specifically, weconsider a scenario where a passenger can pass free-form natural languagecommands to a self-driving car. This problem is particularly challenging, asthe language is much less constrained compared to existing benchmarks, andobject references are often implicit. The challenge is based on the recent\texttt{Talk2Car} dataset. This document provides a technical overview of amodel that we released to help participants get started in the competition. Thecode can be found at https://github.com/talk2car/Talk2Car.

A Baseline for the Commands For Autonomous Vehicles Challenge