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Chain-of-Thought (CoT) reasoning has become a powerful driver of trajectory prediction in VLA-based autonomous driving, yet its autoregressive nature imposes a latency cost that is prohibitive for real-time deployment.
The information bottleneck method
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Vision meets robotics: The KITTI dataset
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Deep learning and the information bottleneck principle
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The Mapillary Vistas dataset for semantic understanding of street scenes
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Attention is all you need
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Danijar Hafner, Timothy Lillicrap, Jimmy Ba, and Mohammad Norouzi · 2019
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IDD: A dataset for exploring problems of autonomous navigation in unconstrained environments
Girish Varma, Anbumani Subramanian, Anoop Namboodiri, Manmohan Chandraker, and CV Jawahar · 2019
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nuScenes: A multimodal dataset for autonomous driving
Holger Caesar, Varun Bankiti, Alex H Lang, Sourabh Vora, Venice Erin Liong, Qiang Xu, Anush Krishnan, Yu Pan, Giancarlo Baldan, and Oscar Beijbom · 2020
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Large scale interactive motion forecasting for autonomous driving: The Waymo open motion dataset
Scott Ettinger, Shuyang Cheng, Benjamin Caine, Chenxi Liu, Hang Zhao, Sabeek Pradhan, Yuning Chai, Ben Sapp, Charles R Qi, Yin Zhou, et al · 2021
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One million scenes for autonomous driving: ONCE dataset
Jiageng Mao, Minzhe Niu, Chenhan Jiang, Hanxue Liang, Jingheng Chen, Xiaodan Liang, Yamin Li, Chaoqiang Ye, Wei Zhang, Zhenguo Li, et al · 2021
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Self-supervised learning from images with a joint-embedding predictive architecture
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Jinze Bai, Shuai Bai, Shusheng Yang, Shijie Wang, Sinan Tan, Peng Wang, Junyang Lin, Chang Zhou, and Jingren Zhou · 2023
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Language modeling is compression
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GAIA-1: A generative world model for autonomous driving
Anthony Hu, Lloyd Russell, Hudson Yeo, Zak Murez, George Fedoseev, Alex Kendall, Jamie Shotton, and Gianluca Corrado · 2023
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Fuller: Unified multi-modality multi-task 3D perception via multi-level gradient calibration
Zhijian Huang, Sihao Lin, Guiyu Liu, Mukun Luo, Chaoqiang Ye, Hang Xu, Xiaojun Chang, and Xiaodan Liang · 2023
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Visual instruction tuning
Haotian Liu, Chunyuan Li, Qingyang Wu, and Yong Jae Lee · 2023
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DRAMA: Joint risk localization and captioning in driving
Srikanth Malla, Chiho Choi, Isht Dwivedi, Joon Hee Choi, and Jiachen Li · 2023
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Argoverse 2: Next generation datasets for self-driving perception and forecasting
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MapLM: A real-world large-scale vision-language benchmark for map and traffic scene understanding
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Compressed chain of thought: Efficient reasoning through dense representations
Jeffrey Cheng and Benjamin Van Durme · 2024
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NAVSIM: Data-driven non-reactive autonomous vehicle simulation and benchmarking
Daniel Dauner, Marcel Hallgarten, Tianyu Li, Xinshuo Weng, Zhiyu Huang, Zetong Yang, Hongyang Li, Igor Gilitschenski, Boris Ivanovic, Marco Pavone, et al · 2024
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From explicit CoT to implicit CoT: Learning to internalize CoT step by step
Yuntian Deng, Yejin Choi, and Stuart Shieber · 2024
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Holistic autonomous driving understanding by bird’s-eye-view injected multi-modal large models
Xinpeng Ding, Jianhua Han, Hang Xu, Xiaodan Liang, Wei Zhang, and Xiaomeng Li · 2024
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World models for autonomous driving: An initial survey
Yanchen Guan, Haicheng Liao, Zhenning Li, Jia Hu, Runze Yuan, Guohui Zhang, and Chengzhong Xu · 2024
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Training large language models to reason in a continuous latent space
Shibo Hao, Sainbayar Sukhbaatar, DiJia Su, Xian Li, Zhiting Hu, Jason Weston, and Yuandong Tian · 2024
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A bounding box is worth one token - interleaving layout and text in a large language model for document understanding
Jinghui Lu, Haiyang Yu, Yanjie Wang, Yongjie Ye, Jingqun Tang, Ziwei Yang, Binghong Wu, Qi Liu, Hao Feng, Han Wang, Hao Liu, and Can Huang · 2025
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Scalable image tokenization with index backpropagation quantization
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Token assorted: Mixing latent and text tokens for improved language model reasoning
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LingoQA: Visual question answering for autonomous driving
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DriveLM: Driving with graph visual question answering
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Scaling LLM test-time compute optimally can be more effective than scaling model parameters
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MTVQA: Benchmarking multilingual text-centric visual question answering
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What drives success in physical planning with joint-embedding predictive world models?
Basile Terver, Tsung-Yen Yang, Jean Ponce, Adrien Bardes, and Yann LeCun · 2025
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SimScale: Learning to drive via real-world simulation at scale
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Sim-cot: Supervised implicit chain-of-thought
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SoftCoT: Soft chain-of-thought for efficient reasoning with LLMs
Yige Xu, Xu Guo, Zhiwei Zeng, and Chunyan Miao · 2025
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FutureSightDrive: Thinking visually with spatio-temporal CoT for autonomous driving
Shuang Zeng, Xinyuan Chang, Mengwei Xie, Xinran Liu, Yifan Bai, Zheng Pan, Mu Xu, Xing Wei, and Ning Guo · 2025
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n a v a 3 nava^{3} : Understanding any instruction, navigating anywhere, finding anything
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DVGT: Driving visual geometry transformer
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VILTA: A VLM-in-the-loop adversary for enhancing driving policy robustness
Qimao Chen, Fang Li, Shaoqing Xu, Zhiyi Lai, Zixun Xie, Yuechen Luo, Shengyin Jiang, Hanbing Li, Long Chen, Bing Wang, et al · 2026
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Agentic world modeling: Foundations, capabilities, laws, and beyond
Meng Chu, Xuan Billy Zhang, Kevin Qinghong Lin, Lingdong Kong, Jize Zhang, Teng Tu, Weijian Ma, Ziqi Huang, Senqiao Yang, Wei Huang, Yeying Jin, Zhefan Rao, Jinhui Ye, Xinyu Lin, Xichen Zhang, Qisheng Hu, Shuai Yang, Leyang Shen, Wei Chow, Yifei Dong, Fengyi Wu, Quanyu Long, Bin Xia, Shaozuo Yu, Mingkang Zhu, Wenhu Zhang, Jiehui Huang, Haokun Gui, Haoxuan Che, Long Chen, Qifeng Chen, Wenxuan Zhang, Wenya Wang, Xiaojuan Qi, Yang Deng, Yanwei Li, Mike Zheng Shou, Zhi-Qi Cheng, See-Kiong Ng, Ziwei Liu, Philip Torr, and Jiaya Jia · 2026
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NavThinker: Action-conditioned world models for coupled prediction and planning in social navigation
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MEML-GRPO: Heterogeneous multi-expert mutual learning for RLVR advancement
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LargeAD: Large-scale cross-sensor data pretraining for autonomous driving
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DynVLA: Learning world dynamics for action reasoning in autonomous driving
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