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Abstract - From Representational Complementarity to Dual Systems: Synergizing VLM and Vision-Only Backbones for End-to-End Driving
Vision-Language-Action (VLA) driving augments end-to-end (E2E) planning with language-enabled backbones, yet it remains unclear what changes beyond the usual accuracy--cost trade-off. We revisit this question with 3--RQ analysis in RecogDrive by instantiating the system with a full VLM and vision-only backbones, all under an identical diffusion Transformer planner. RQ1: At the backbone level, the VLM can introduce additional subspaces upon the vision-only backbones. RQ2: This unique subspace leads to a different behavioral in some long-tail scenario: the VLM tends to be more aggressive whereas ViT is more conservative, and each decisively wins on about 2--3% of test scenarios; With an oracle that selects, per scenario, the better trajectory between the VLM and ViT branches, we obtain an upper bound of 93.58 PDMS. RQ3: To fully harness this observation, we propose HybridDriveVLA, which runs both ViT and VLM branches and selects between their endpoint trajectories using a learned scorer, improving PDMS to 92.10. Finally, DualDriveVLA implements a practical fast--slow policy: it runs ViT by default and invokes the VLM only when the scorer's confidence falls below a threshold; calling the VLM on 15% of scenarios achieves 91.00 PDMS while improving throughput by 3.2x. Code will be released.
从表征互补到双系统:协同视觉语言模型与纯视觉骨干网络实现端到端驾驶 /
From Representational Complementarity to Dual Systems: Synergizing VLM and Vision-Only Backbones for End-to-End Driving
1️⃣ 一句话总结
这篇论文发现,在自动驾驶系统中,结合了语言理解的视觉模型和纯视觉模型在决策行为上存在互补性,并据此设计了一个高效的双系统框架,让系统能根据场景智能选择使用哪种模型,从而在保证性能的同时大幅提升运行效率。