TPS-Drive uses an agent-centric tokenizer supervised by a frozen 3D detection head to purify VLM spatial representations, enabling better scene forecasting and lower collision rates on nuScenes and NAVSIM benchmarks.
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DriveVLA-W0: World Models Amplify Data Scaling Law in Autonomous Driving
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abstract
Scaling Vision-Language-Action (VLA) models on large-scale data offers a promising path to achieving a more generalized driving intelligence. However, VLA models are limited by a ``supervision deficit'': the vast model capacity is supervised by sparse, low-dimensional actions, leaving much of their representational power underutilized. To remedy this, we propose \textbf{DriveVLA-W0}, a training paradigm that employs world modeling to predict future images. This task generates a dense, self-supervised signal that compels the model to learn the underlying dynamics of the driving environment. We showcase the paradigm's versatility by instantiating it for two dominant VLA archetypes: an autoregressive world model for VLAs that use discrete visual tokens, and a diffusion world model for those operating on continuous visual features. Building on the rich representations learned from world modeling, we introduce a lightweight action expert to address the inference latency for real-time deployment. Extensive experiments on the NAVSIM v1/v2 benchmark and a 680x larger in-house dataset demonstrate that DriveVLA-W0 significantly outperforms BEV and VLA baselines. Crucially, it amplifies the data scaling law, showing that performance gains accelerate as the training dataset size increases.
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representative citing papers
By adding future visual state prediction and a dedicated inverse kinematics diffusion network that uses only visual boundary conditions, a 0.5B driving VLA recovers visual grounding and matches 7-8B models on NAVSIM-v2 and nuScenes.
WCog-VLA couples Game-CoT semantic reasoning with an aligned decoupled diffusion transformer to generate joint multi-agent trajectories and reaches 92.9 PDMS on NAVSIM.
DriveTeach-VLA adds Driving-aware Vision Distillation pretraining and 2D Trajectory-Guided Prompts to VLA models, then reports state-of-the-art results on NAVSIM and nuScenes.
DriveVer is a lightweight dual-head test-time verifier that predicts safety confidence scores and geometric refinement vectors for candidate trajectories, improving base planners on the NAVSIM benchmark.
LWDrive uses future-frame supervision on VLMs to create world-model features that a multi-layer Foresight Cascade Planner refines into final trajectories, reporting 92.0 on NAVSIM and 89.6 on NAVSIM-v2.
X-Mind proposes an efficient internal visual chain-of-thought using compressed BEV sketches and recurrent block diffusion to embed predictive world models into end-to-end driving policies.
World Engine generates realistic safety-critical driving variations from logs for reinforcement post-training, reducing benchmark failures more than data scaling and showing collision reductions plus on-road gains in a production system.
VLGA introduces geometry as a fourth modality in VLA models via pointmap regression loss, reporting SOTA open-loop and closed-loop driving metrics on nuScenes and Bench2Drive.
TOAD applies test-time Cross-Entropy Method optimization to refine trajectories using the planner's scorer as a reward function, improving end-to-end autonomous driving performance without retraining.
IDOL uses inverse dynamics on adjacent predicted latent futures to extract planning-relevant motion deltas, then optimizes trajectories with a closed-loop refinement step, reporting SOTA results on NAVSIM v1 and v2.
ChainFlow-VLA unifies autoregressive causal trajectory modes with VLM-conditioned diffusion refinement to reach 94.85 on NAVSIM v1, matching human performance.
CLAP reduces planning error on challenging driving scenarios by 24% on NAVSIM using contrastive latent-space prompt optimization on frozen VLA models with no regression on normal frames.
CLOVER is a closed-loop generator-scorer framework that expands proposal coverage with pseudo-expert trajectories and performs conservative self-distillation to achieve state-of-the-art planning scores on NAVSIM and nuScenes.
MindVLA-U1 is the first unified streaming VLA architecture that surpasses human drivers on WOD-E2E planning metrics while matching VA latency and preserving language interfaces.
CoWorld-VLA extracts semantic, geometric, dynamic, and trajectory expert tokens from multi-source supervision and feeds them into a diffusion-based hierarchical planner, achieving competitive collision avoidance and trajectory accuracy on the NAVSIM v1 benchmark.
DriveFuture achieves SOTA results on NAVSIM by conditioning latent world model states on future predictions to directly inform trajectory planning.
VECTOR-DRIVE uses shared self-attention with semantic-aware expert routing of tokens to VL and trajectory experts plus flow-matching action decoding to reach 88.91 driving score on Bench2Drive.
ReflectDrive-2 combines masked discrete diffusion with RL-aligned self-editing to generate and refine driving trajectories, reaching 91.0 PDMS on NAVSIM camera-only and 94.8 in best-of-6.
Infrastructure-centric world models use roadside sensors' temporal depth to complement vehicle spatial breadth for better traffic simulation and prediction.
SceneScribe-1M is a new dataset of 1 million videos with semantic text, camera parameters, dense depth, and consistent 3D point tracks to support monocular depth estimation, scene reconstruction, point tracking, and text-to-video synthesis.
DVGT-2 is a streaming vision-geometry-action model that jointly reconstructs dense 3D geometry and plans trajectories online, achieving better reconstruction than prior batch methods while transferring directly to planning benchmarks without fine-tuning.
OpenVO estimates ego-motion from monocular dashcam footage with varying observation rates and uncalibrated cameras by encoding temporal dynamics in a two-frame regression framework and using 3D priors from foundation models, delivering over 20% gains and 46-92% lower errors on KITTI, nuScenes, and A
DriveLaW unifies video world modeling and trajectory planning by injecting video-generator latents into a diffusion planner, achieving SOTA video prediction and a new record on the NAVSIM planning benchmark.
citing papers explorer
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TPS-Drive: Task-Guided Representation Purification for VLM-based Autonomous Driving
TPS-Drive uses an agent-centric tokenizer supervised by a frozen 3D detection head to purify VLM spatial representations, enabling better scene forecasting and lower collision rates on nuScenes and NAVSIM benchmarks.
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Grounding Driving VLA via Inverse Kinematics
By adding future visual state prediction and a dedicated inverse kinematics diffusion network that uses only visual boundary conditions, a 0.5B driving VLA recovers visual grounding and matches 7-8B models on NAVSIM-v2 and nuScenes.
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WCog-VLA: A Dual-Level World-Cognitive Vision-Language-Action Model for End-to-End Autonomous Driving
WCog-VLA couples Game-CoT semantic reasoning with an aligned decoupled diffusion transformer to generate joint multi-agent trajectories and reaches 92.9 PDMS on NAVSIM.
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Teaching Vision-Language-Action Models What to See and Where to Look
DriveTeach-VLA adds Driving-aware Vision Distillation pretraining and 2D Trajectory-Guided Prompts to VLA models, then reports state-of-the-art results on NAVSIM and nuScenes.
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DriveVer: Lightweight Trajectory Evaluator as Test-Time Verifier for Autonomous Driving
DriveVer is a lightweight dual-head test-time verifier that predicts safety confidence scores and geometric refinement vectors for candidate trajectories, improving base planners on the NAVSIM benchmark.
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LWDrive: Layer-Wise World-Model-Guided Vision-Language Model Planning for Autonomous Driving
LWDrive uses future-frame supervision on VLMs to create world-model features that a multi-layer Foresight Cascade Planner refines into final trajectories, reporting 92.0 on NAVSIM and 89.6 on NAVSIM-v2.
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X-Mind: Efficient Visual Chain-of-Thought via Predictive World Model for End-to-End Driving
X-Mind proposes an efficient internal visual chain-of-thought using compressed BEV sketches and recurrent block diffusion to embed predictive world models into end-to-end driving policies.
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World Engine: Towards the Era of Post-Training for Autonomous Driving
World Engine generates realistic safety-critical driving variations from logs for reinforcement post-training, reducing benchmark failures more than data scaling and showing collision reductions plus on-road gains in a production system.
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VLGA: Vision-Language-Geometry-Action Models for Autonomous Driving
VLGA introduces geometry as a fourth modality in VLA models via pointmap regression loss, reporting SOTA open-loop and closed-loop driving metrics on nuScenes and Bench2Drive.
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Test-Time Trajectory Optimization for Autonomous Driving
TOAD applies test-time Cross-Entropy Method optimization to refine trajectories using the planner's scorer as a reward function, improving end-to-end autonomous driving performance without retraining.
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IDOL: Inverse-Dynamics-Guided Future Prediction for End-to-End Autonomous Driving
IDOL uses inverse dynamics on adjacent predicted latent futures to extract planning-relevant motion deltas, then optimizes trajectories with a closed-loop refinement step, reporting SOTA results on NAVSIM v1 and v2.
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ChainFlow-VLA: Causal Flow Planning with Vision-Language Models
ChainFlow-VLA unifies autoregressive causal trajectory modes with VLM-conditioned diffusion refinement to reach 94.85 on NAVSIM v1, matching human performance.
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CLAP: Contrastive Latent-space Prompt Optimization for End-to-end Autonomous Driving
CLAP reduces planning error on challenging driving scenarios by 24% on NAVSIM using contrastive latent-space prompt optimization on frozen VLA models with no regression on normal frames.
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CLOVER: Closed-Loop Value Estimation and Ranking for End-to-End Autonomous Driving Planning
CLOVER is a closed-loop generator-scorer framework that expands proposal coverage with pseudo-expert trajectories and performs conservative self-distillation to achieve state-of-the-art planning scores on NAVSIM and nuScenes.
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MindVLA-U1: VLA Beats VA with Unified Streaming Architecture for Autonomous Driving
MindVLA-U1 is the first unified streaming VLA architecture that surpasses human drivers on WOD-E2E planning metrics while matching VA latency and preserving language interfaces.
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CoWorld-VLA: Thinking in a Multi-Expert World Model for Autonomous Driving
CoWorld-VLA extracts semantic, geometric, dynamic, and trajectory expert tokens from multi-source supervision and feeds them into a diffusion-based hierarchical planner, achieving competitive collision avoidance and trajectory accuracy on the NAVSIM v1 benchmark.
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DriveFuture: Future-Aware Latent World Models for Autonomous Driving
DriveFuture achieves SOTA results on NAVSIM by conditioning latent world model states on future predictions to directly inform trajectory planning.
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VECTOR-Drive: Tightly Coupled Vision-Language and Trajectory Expert Routing for End-to-End Autonomous Driving
VECTOR-DRIVE uses shared self-attention with semantic-aware expert routing of tokens to VL and trajectory experts plus flow-matching action decoding to reach 88.91 driving score on Bench2Drive.
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ReflectDrive-2: Reinforcement-Learning-Aligned Self-Editing for Discrete Diffusion Driving
ReflectDrive-2 combines masked discrete diffusion with RL-aligned self-editing to generate and refine driving trajectories, reaching 91.0 PDMS on NAVSIM camera-only and 94.8 in best-of-6.
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Infrastructure-Centric World Models: Bridging Temporal Depth and Spatial Breadth for Roadside Perception
Infrastructure-centric world models use roadside sensors' temporal depth to complement vehicle spatial breadth for better traffic simulation and prediction.
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SceneScribe-1M: A Large-Scale Video Dataset with Comprehensive Geometric and Semantic Annotations
SceneScribe-1M is a new dataset of 1 million videos with semantic text, camera parameters, dense depth, and consistent 3D point tracks to support monocular depth estimation, scene reconstruction, point tracking, and text-to-video synthesis.
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DVGT-2: Vision-Geometry-Action Model for Autonomous Driving at Scale
DVGT-2 is a streaming vision-geometry-action model that jointly reconstructs dense 3D geometry and plans trajectories online, achieving better reconstruction than prior batch methods while transferring directly to planning benchmarks without fine-tuning.
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OpenVO: Open-World Visual Odometry with Temporal Dynamics Awareness
OpenVO estimates ego-motion from monocular dashcam footage with varying observation rates and uncalibrated cameras by encoding temporal dynamics in a two-frame regression framework and using 3D priors from foundation models, delivering over 20% gains and 46-92% lower errors on KITTI, nuScenes, and A
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DriveLaW:Unifying Planning and Video Generation in a Latent Driving World
DriveLaW unifies video world modeling and trajectory planning by injecting video-generator latents into a diffusion planner, achieving SOTA video prediction and a new record on the NAVSIM planning benchmark.
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SimScale: Learning to Drive via Real-World Simulation at Scale
SimScale synthesizes unseen driving states from real logs via neural rendering and reactive environments, generates pseudo-expert trajectories, and shows that co-training on real plus simulated data improves planning robustness and generalization on real benchmarks, with gains scaling by simulation
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ASSCG: Just-Right Gating over Chattering for Fast-Slow LLM Planning in Autonomous Driving
ASSCG is an RWKV-based adaptive gate trained with SFT and GRPO-style RL that makes Query/Cache/Drop decisions for slow LLM guidance in fast-slow autonomous driving planners, improving scores and cutting latency on nuPlan and NAVSIM.
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World-Language-Action Model for Unified World Modeling, Language Reasoning, and Action Synthesis
WLA models use an autoregressive Transformer to jointly predict textual subtasks, subgoal images, and robot actions from instructions, images, and states, reporting SOTA success rates on RoboTwin2.0 and RMBench.
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Discrete-WAM: Unified Discrete Vision-Action Token Editing for World-Policy Learning
Discrete-WAM unifies world modeling and policy learning for autonomous driving by representing observations, states, decisions, and actions as tokens in one space and using hierarchical token editing for planning.
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Unified Driving Tokens: Representation- and Geometry-Guided Discrete Tokenizer for Driving World Models and Planning
A representation- and geometry-guided discrete tokenizer for driving scenes improves token quality for world models and planning on NAVSIM.
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LVDrive: Latent Visual Representation Enhanced Vision-Language-Action Autonomous Driving Model
LVDrive improves closed-loop driving on Bench2Drive by adding latent future scene prediction to VLA models via unified embedding space processing and two-stage trajectory decoding.
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EponaV2: Driving World Model with Comprehensive Future Reasoning
EponaV2 advances perception-free driving world models by forecasting comprehensive future 3D geometry and semantic representations, achieving SOTA planning performance on NAVSIM benchmarks.
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Driving Intents Amplify Planning-Oriented Reinforcement Learning
DIAL expands continuous-action driving policies via intent-conditioned flow matching and multi-intent GRPO, lifting best-of-N preference scores above human demonstrations for the first time on WOD-E2E.
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CRAFT: Counterfactual-to-Interactive Reinforcement Fine-Tuning for Driving Policies
CRAFT is an on-policy RL fine-tuning framework that decomposes closed-loop policy gradients into a group-normalized counterfactual proxy plus residual correction from interaction events, achieving top closed-loop performance on Bench2Drive across multiple driving architectures.
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SpanVLA: Efficient Action Bridging and Learning from Negative-Recovery Samples for Vision-Language-Action Model
SpanVLA reduces action generation latency via flow-matching conditioned on history and improves robustness by training on negative-recovery samples with GRPO and a dedicated reasoning dataset.
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ExploreVLA: Dense World Modeling and Exploration for End-to-End Autonomous Driving
Dense future RGB/depth world modeling both supervises a VLA planner and supplies safety-gated uncertainty rewards that, optimized with GRPO, reach 93.7 PDMS on NAVSIM.
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Intend, Reflect, Refine: An Adaptive Multimodal Reflection Framework for Autonomous Driving
IRR-Drive adds an adaptive multimodal reflection step (text intention plus predicted future BEV) that lets a VLA model self-correct its trajectory plan according to scene complexity and reports SOTA on NAVSIM.
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LUNA-AD: Lightweight Uncertainty-Aware Language Model with Lifelong Learning for Autonomous Driving
LUNA-AD introduces a tri-system model with multi-agent hypothesis exploration, distilled lightweight inference, and reflection-driven lifelong learning that claims state-of-the-art success rates on nuPlan benchmarks with reduced latency.
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OmniVLA-RL: A Vision-Language-Action Model with Spatial Understanding and Online RL
OmniVLA-RL uses a mix-of-transformers architecture and flow-matching reformulated as SDE with group segmented policy optimization to surpass prior VLA models on LIBERO benchmarks.