Learning from Mistakes: Post-Training for Driving VLA with Takeover Data

Current Vision-Language-Action (VLA) paradigms in end-to-end autonomous driving rely on offline training from static datasets, leaving them vulnerable to distribution shift. Recent post-training methods use takeover data to mitigate this by augmenting the dataset with high-quality expert takeover samples, yet they suffer from two key limitations: supervision restricted to the period after the takeover moments leads to policies with limited safety margins, and passive preference optimization lacks active exploration for optimal performance. In this paper, we propose TakeVLA, a novel VLA post-training framework that overcomes these shortcomings through two complementary innovations. First, we introduce pre-takeover language supervision, which allows the VLA to learn from mistakes proactively. By explicitly teaching the model about what to do in error-prone situations, we cultivate a precautionary mindset that anticipates hazards early and substantially enlarges safety margins. Second, we propose Scenario Dreaming, a reinforcement fine-tuning paradigm that operates in reconstruceted takeover scenarios, encouraging active exploration beyond mere preference fitting. Experiments on the Bench2Drive benchmark demonstrate that TakeVLA achieves state-of-the-art closed-loop performance, surpassing the strong VLA baseline SimLingo by 4.93 in driving score, with an enhanced safety margin as evidenced by an 11.76% increase in average TTC.

PerlAD: Towards Enhanced Closed-loop End-to-end Autonomous Driving with Pseudo-simulation-based Reinforcement Learning

End-to-end autonomous driving policies based on Imitation Learning (IL) often struggle in closed-loop execution due to the misalignment between inadequate open-loop training objectives and real driving requirements. While Reinforcement Learning (RL) offers a solution by directly optimizing driving goals via reward signals, the rendering-based training environments introduce the rendering gap and are inefficient due to high computational costs. To overcome these challenges, we present a novel Pseudo-simulation-based RL method for closed-loop end-to-end autonomous driving, PerlAD. Based on offline datasets, PerlAD constructs a pseudo-simulation that operates in vector space, enabling efficient, rendering-free trial-and-error training. To bridge the gap between static datasets and dynamic closed-loop environments, PerlAD introduces a prediction world model that generates reactive agent trajectories conditioned on the ego vehicle's plan. Furthermore, to facilitate efficient planning, PerlAD utilizes a hierarchical decoupled planner that combines IL for lateral path generation and RL for longitudinal speed optimization. Comprehensive experimental results demonstrate that PerlAD achieves state-of-the-art performance on the Bench2Drive benchmark, surpassing the previous E2E RL method by 10.29% in Driving Score without requiring expensive online interactions. Additional evaluations on the DOS benchmark further confirm its reliability in handling safety-critical occlusion scenarios.

VGGDrive: Empowering Vision-Language Models with Cross-View Geometric Grounding for Autonomous Driving

The significance of cross-view 3D geometric modeling capabilities for autonomous driving is self-evident, yet existing Vision-Language Models (VLMs) inherently lack this capability, resulting in their mediocre performance. While some promising approaches attempt to mitigate this by constructing Q&A data for auxiliary training, they still fail to fundamentally equip VLMs with the ability to comprehensively handle diverse evaluation protocols. We thus chart a new course, advocating for the infusion of VLMs with the cross-view geometric grounding of mature 3D foundation models, closing this critical capability gap in autonomous driving. In this spirit, we propose a novel architecture, VGGDrive, which empowers Vision-language models with cross-view Geometric Grounding for autonomous Driving. Concretely, to bridge the cross-view 3D geometric features from the frozen visual 3D model with the VLM's 2D visual features, we introduce a plug-and-play Cross-View 3D Geometric Enabler (CVGE). The CVGE decouples the base VLM architecture and effectively empowers the VLM with 3D features through a hierarchical adaptive injection mechanism. Extensive experiments show that VGGDrive enhances base VLM performance across five autonomous driving benchmarks, including tasks like cross-view risk perception, motion prediction, and trajectory planning. It's our belief that mature 3D foundation models can empower autonomous driving tasks through effective integration, and we hope our initial exploration demonstrates the potential of this paradigm to the autonomous driving community.

MeanFuser: Fast One-Step Multi-Modal Trajectory Generation and Adaptive Reconstruction via MeanFlow for End-to-End Autonomous Driving

Generative models have shown great potential in trajectory planning. Recent studies demonstrate that anchor-guided generative models are effective in modeling the uncertainty of driving behaviors and improving overall performance. However, these methods rely on discrete anchor vocabularies that must sufficiently cover the trajectory distribution during testing to ensure robustness, inducing an inherent trade-off between vocabulary size and model performance. To overcome this limitation, we propose MeanFuser, an end-to-end autonomous driving method that enhances both efficiency and robustness through three key designs. (1) We introduce Gaussian Mixture Noise (GMN) to guide generative sampling, enabling a continuous representation of the trajectory space and eliminating the dependency on discrete anchor vocabularies. (2) We adapt ``MeanFlow Identity" to end-to-end planning, which models the mean velocity field between GMN and trajectory distribution instead of the instantaneous velocity field used in vanilla flow matching methods, effectively eliminating numerical errors from ODE solvers and significantly accelerating inference. (3) We design a lightweight Adaptive Reconstruction Module (ARM) that enables the model to implicitly select from all sampled proposals or reconstruct a new trajectory when none is satisfactory via attention weights. Experiments on the NAVSIM closed-loop benchmark demonstrate that MeanFuser achieves outstanding performance without the supervision of the PDM Score. and exceptional inference efficiency, offering a robust and efficient solution for end-to-end autonomous driving. Our code and model are available at https://github.com/wjl2244/MeanFuser.

DriveFine: Refining-Augmented Masked Diffusion VLA for Precise and Robust Driving

Vision-Language-Action (VLA) models for autonomous driving increasingly adopt generative planners trained with imitation learning followed by reinforcement learning. Diffusion-based planners suffer from modality alignment difficulties, low training efficiency, and limited generalization. Token-based planners are plagued by cumulative causal errors and irreversible decoding. In summary, the two dominant paradigms exhibit complementary strengths and weaknesses. In this paper, we propose DriveFine, a masked diffusion VLA model that combines flexible decoding with self-correction capabilities. In particular, we design a novel plug-and-play block-MoE, which seamlessly injects a refinement expert on top of the generation expert. By enabling explicit expert selection during inference and gradient blocking during training, the two experts are fully decoupled, preserving the foundational capabilities and generic patterns of the pretrained weights, which highlights the flexibility and extensibility of the block-MoE design. Furthermore, we design a hybrid reinforcement learning strategy that encourages effective exploration of refinement expert while maintaining training stability. Extensive experiments on NAVSIM v1, v2, and Navhard benchmarks demonstrate that DriveFine exhibits strong efficacy and robustness. The code will be released at https://github.com/MSunDYY/DriveFine.

L2R: Low-Rank and Lipschitz-Controlled Routing for Mixture-of-Experts

Mixture-of-Experts (MoE) models scale neural networks by conditionally activating a small subset of experts, where the router plays a central role in determining expert specialization and overall model performance. However, many modern MoE systems still adopt linear routers in raw high-dimensional representation spaces, where representation mismatch, angular concentration, and scale-sensitive scoring can jointly undermine routing discriminability and stable expert specialization. In this work, we propose Low-rank \& Lipschitz-controlled Routing (L2R), a unified routing framework that reshapes both the routing space and scoring geometry. L2R performs expert assignment in a shared low-rank latent routing space and introduces Saturated Inner-Product Scoring (SIPS) to explicitly control the Lipschitz behavior of routing functions, yielding smoother and more stable routing geometry. In addition, L2R incorporates a parameter-efficient multi-anchor routing mechanism to enhance expert expressiveness. Extensive experiments on a large-scale language MoE model and a vision MoE setting on ImageNet demonstrate that L2R consistently improves routing stability, expert specialization, and overall model performance.

Difficulty-guided Sampling: Bridging the Target Gap between Dataset Distillation and Downstream Tasks

In this paper, we propose difficulty-guided sampling (DGS) to bridge the target gap between the distillation objective and the downstream task, therefore improving the performance of dataset distillation. Deep neural networks achieve remarkable performance but have time and storage-consuming training processes. Dataset distillation is proposed to generate compact, high-quality distilled datasets, enabling effective model training while maintaining downstream performance. Existing approaches typically focus on features extracted from the original dataset, overlooking task-specific information, which leads to a target gap between the distillation objective and the downstream task. We propose leveraging characteristics that benefit the downstream training into data distillation to bridge this gap. Focusing on the downstream task of image classification, we introduce the concept of difficulty and propose DGS as a plug-in post-stage sampling module. Following the specific target difficulty distribution, the final distilled dataset is sampled from image pools generated by existing methods. We also propose difficulty-aware guidance (DAG) to explore the effect of difficulty in the generation process. Extensive experiments across multiple settings demonstrate the effectiveness of the proposed methods. It also highlights the broader potential of difficulty for diverse downstream tasks.

SparseOccVLA: Bridging Occupancy and Vision-Language Models via Sparse Queries for Unified 4D Scene Understanding and Planning

In autonomous driving, Vision Language Models (VLMs) excel at high-level reasoning , whereas semantic occupancy provides fine-grained details. Despite significant progress in individual fields, there is still no method that can effectively integrate both paradigms. Conventional VLMs struggle with token explosion and limited spatiotemporal reasoning, while semantic occupancy provides a unified, explicit spatial representation but is too dense to integrate efficiently with VLMs. To address these challenges and bridge the gap between VLMs and occupancy, we propose SparseOccVLA, a novel vision-language-action model that unifies scene understanding, occupancy forecasting, and trajectory planning powered by sparse occupancy queries. Starting with a lightweight Sparse Occupancy Encoder, SparseOccVLA generates compact yet highly informative sparse occupancy queries that serve as the single bridge between vision and language. These queries are aligned into the language space and reasoned by the LLM for unified scene understanding and future occupancy forecasting. Furthermore, we introduce an LLM-guided Anchor-Diffusion Planner featuring decoupled anchor scoring and denoising, as well as cross-model trajectory-condition fusion. SparseOccVLA achieves a 7% relative improvement in CIDEr over the state-of-the-art on OmniDrive-nuScenes, a 0.5 increase in mIoU score on Occ3D-nuScenes, and sets state-of-the-art open-loop planning metric on nuScenes benchmark, demonstrating its strong holistic capability.

Foreground-Aware Dataset Distillation via Dynamic Patch Selection

In this paper, we propose a foreground-aware dataset distillation method that enhances patch selection in a content-adaptive manner. With the rising computational cost of training large-scale deep models, dataset distillation has emerged as a promising approach for constructing compact synthetic datasets that retain the knowledge of their large original counterparts. However, traditional optimization-based methods often suffer from high computational overhead, memory constraints, and the generation of unrealistic, noise-like images with limited architectural generalization. Recent non-optimization methods alleviate some of these issues by constructing distilled data from real image patches, but the used rigid patch selection strategies can still discard critical information about the main objects. To solve this problem, we first leverage Grounded SAM2 to identify foreground objects and compute per-image foreground occupancy, from which we derive a category-wise patch decision threshold. Guided by these thresholds, we design a dynamic patch selection strategy that, for each image, either selects the most informative patch from multiple candidates or directly resizes the full image when the foreground dominates. This dual-path mechanism preserves more key information about the main objects while reducing redundant background content. Extensive experiments on multiple benchmarks show that the proposed method consistently improves distillation performance over existing approaches, producing more informative and representative distilled datasets and enhancing robustness across different architectures and image compositions.

Chat with UAV -- Human-UAV Interaction Based on Large Language Models

The future of UAV interaction systems is evolving from engineer-driven to user-driven, aiming to replace traditional predefined Human-UAV Interaction designs. This shift focuses on enabling more personalized task planning and design, thereby achieving a higher quality of interaction experience and greater flexibility, which can be used in many fileds, such as agriculture, aerial photography, logistics, and environmental monitoring. However, due to the lack of a common language between users and the UAVs, such interactions are often difficult to be achieved. The developments of Large Language Models possess the ability to understand nature languages and Robots' (UAVs') behaviors, marking the possibility of personalized Human-UAV Interaction. Recently, some HUI frameworks based on LLMs have been proposed, but they commonly suffer from difficulties in mixed task planning and execution, leading to low adaptability in complex scenarios. In this paper, we propose a novel dual-agent HUI framework. This framework constructs two independent LLM agents (a task planning agent, and an execution agent) and applies different Prompt Engineering to separately handle the understanding, planning, and execution of tasks. To verify the effectiveness and performance of the framework, we have built a task database covering four typical application scenarios of UAVs and quantified the performance of the HUI framework using three independent metrics. Meanwhile different LLM models are selected to control the UAVs with compared performance. Our user study experimental results demonstrate that the framework improves the smoothness of HUI and the flexibility of task execution in the tasks scenario we set up, effectively meeting users' personalized needs.