The paper introduces CoLT-Drive, a 3,536-sample counterfactual long‑tail benchmark for evaluating decision‑level driving affordance prediction, which tests whether models can infer how rare objects affect an ego vehicle’s high‑level actions. It also proposes KPA, a knowledge‑preserving adaptation framework that combines structured prompting, expert merging, and a regime‑aware LoRA mixture‑of‑experts module to improve small VLMs on driving tasks. Experiments show KPA achieves 60.8% pair accuracy on CoLT‑Drive, outperforming the Qwen3‑VL‑2B baseline and LoRA SFT while keeping competitive in‑domain performance.
arXiv:2602. 23499v4 Announce Type: replace-cross Abstract: Collecting a high-quality dataset is a critical task that demands meticulous attention to detail, as overlooking certain aspects can render the entire dataset unusable.
arXiv:2512. 05277v3 Announce Type: replace-cross Abstract: Vision-Language Models (VLMs) are increasingly deployed as the perception and reasoning backbone of autonomous agents acting in the wild, with autonomous driving (AD) being one of the most safety-critical instances.
arXiv:2607. 00283v1 Announce Type: cross Abstract: Autonomous vehicles must safely navigate complex environments where planning-critical agents may be hidden from view.
arXiv:2607. 13319v1 Announce Type: cross Abstract: High-speed off-road autonomy requires precise closed-loop control for a target vehicle while remaining robust across changing terrains.
arXiv:2512. 05277v4 Announce Type: replace-cross Abstract: Vision-Language Models (VLMs) are increasingly deployed as the perception and reasoning backbone of autonomous agents acting in the wild, with autonomous driving (AD) being one of the most safety-critical instances.
arXiv:2608. 11739v1 Announce Type: cross Abstract: The prevailing recipe for Vision-Language-Action (VLA) models couples a pretrained VLM with a separately trained flow-matching action expert.
arXiv:2606. 12616v1 Announce Type: new Abstract: Closed-loop driving simulators typically populate their environments with non-ego traffic agents that behave largely the same way, produced either by rule-based traffic managers or by learned models trained toward a single behavioral mode.
arXiv:2601. 21288v2 Announce Type: replace Abstract: Autonomous driving is an important and safety-critical task, and recent advances in LLMs/VLMs have opened new possibilities for reasoning and planning in this domain.
arXiv:2608.20974v1 Announce Type: cross Abstract: Video Joint Embedding Predictive Architecture (V-JEPA) learns powerful spatiotemporal representations from video through self-supervised latent featu...
arXiv:2606. 03159v1 Announce Type: cross Abstract: As autonomous vehicle capabilities advance, the safe evaluation of driving policies in long-tail scenarios remains a critical bottleneck.
The paper investigates how Vision‑Language‑Action (VLA) models can generalise across different driving environments and camera setups. It introduces a multi‑dataset training strategy and an auxiliary objective called BEV‑Forcing, which injects bird‑eye‑view spatial information into the VLA backbone to improve both in‑distribution and out‑of‑distribution performance on a limited number of camera rigs. The authors observe that while BEV‑Forcing helps when training data is scarce, its advantage diminishes as the number of training embodiments grows, suggesting that scaling diversity may reduce the impact of such auxiliary tasks.
arXiv:2607. 04179v1 Announce Type: cross Abstract: End-to-end Vision-Language Models (VLMs) show immense potential in autonomous driving.