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<!doctype html>
<html lang="en">
<head>
<title>Vision-Language-Action Models for Autonomous Driving: Past, Present, and Future</title>
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<div class="header-content">
<h1>
Vision-Language-Action Models for Autonomous Driving: Past, Present, and Future
</h1>
<h2 style="margin:2.2rem 0 1.8rem; display:flex; align-items:center; gap:0.4rem;">
<span class="icon is-small">
<img src="assets_common/icons/worldbench-circle.png" style="height:1.8em; vertical-align:text-top;">
</span> WorldBench Team
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</span><span>arXiv</span>
</a>
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<span class="icon is-small">
<img src="assets_common/icons/pdf.png" style="height: 1.4em;">
</span><span>PDF</span>
</a>
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<span class="icon is-small">
<img src="assets_common/icons/github.png" style="height: 1.4em;">
</span><span>GitHub</span>
</a>
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<span class="icon is-small">
<img src="assets_common/icons/hf.png" style="height: 1.5em;">
</span><span>Leaderboard</span>
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<img src="assets/vla4ad/figures/vla4ad.webp" alt="Teaser Image" class="teaser-image">
</div>
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</div>
<d-article>
<d-contents>
<nav>
<h4>Contents</h4>
<div><a href="#definition">Definition</a></div>
<!-- <div><a href="#taxonomy">Taxonomy</a></div> -->
<div><a href="#projects">Collections</a></div>
<div><a href="#contributors">Contributors</a></div>
</nav>
</d-contents>
<section id="introduction">
<div class="wb-section">
<div class="wb-kicker"><span class="icon is-small">
<img src="assets/vla4ad/figures/intro.png" style="height: 1.6em;" loading="lazy">
</span> Introduction</div>
<div class="wb-hr"></div>
<p class="wb-lead">
The pursuit of fully autonomous driving (AD) has long been a central goal in AI and robotics.
Conventional AD systems typically adopt a modular "Perception-Decision-Action" pipeline, where mapping, object detection, motion prediction, and trajectory planning are developed and optimized as separate components.
</p>
<p class="wb-lead">
While this design has achieved strong performance in structured environments, its reliance on hand-crafted interfaces and rules limits adaptability in complex, dynamic, and long-tailed scenarios.
</p>
<figure style="width: 100%; max-width: 1000px; display: block; margin: 24px auto;">
<img src="assets/vla4ad/figures/teaser.png">
</figure>
<p class="wb-lead">
This survey reviews <strong>Vision-Language-Action (VLA) models</strong> — an emerging paradigm that integrates
visual perception, natural language reasoning, and executable actions for autonomous driving.
We trace the evolution from traditional <strong>Vision-Action (VA) approaches</strong> to <strong>modern VLA frameworks</strong>.
Charting the evolution from precursor VA models to modern VLA frameworks, we provide historical context and clarify the motivations behind this paradigm shift.
</p>
<br><br>
</div>
</section>
<section id="definition">
<div class="wb-kicker"><span class="icon is-small">
<img src="assets/vla4ad/figures/definition.png" style="height: 1.6em;" loading="lazy">
</span> Definition</div>
<style>
#definition .wb-grid{
grid-template-columns: 1fr !important; max-width: 900px; margin: 0 auto; gap: 1rem 1.25rem;
}
</style>
<div class="wb-grid">
<!-- Vision-Action (VA) Models -->
<article class="wb-card" id="va-models">
<h3>
<i class="fas fa-film" aria-hidden="true"></i>
<a class="wb-anchor">Vision-Action (VA) Models</a>
</h3>
<p>
A vision-centric driving system that directly maps raw sensory
observations to driving actions, thereby avoiding explicit modular decomposition
into perception, prediction, and planning. VA models learn end-to-end policies through imitation learning
or reinforcement learning.
</p>
<!-- <p class="wb-cap">
<strong>Typical inputs</strong>: Multi-View RGB Images, LiDAR Point Clouds, Ego Vehicle State, Maps.
</p> -->
<div class="wb-meta" aria-label="VA Models tags">
<span class="wb-chip">End-to-End Models</span>
<span class="wb-chip">World Models</span>
<span class="wb-chip">Imitation Learning</span>
<span class="wb-chip">Reinforcement Learning</span>
<span class="wb-chip">Trajectory Prediction</span>
</div>
</article>
<!-- Vision-Language-Action (VLA) Models -->
<article class="wb-card" id="lidargen">
<h3>
<i class="fas fa-braille" aria-hidden="true"></i>
<a class="wb-anchor">Vision-Language-Action (VLA) Models</a>
</h3>
<p>
A multimodal reasoning system that couples visual perception with
large VLMs to produce executable driving actions. VLAs integrate visual understanding,
linguistic reasoning, and actionable outputs within a unified framework, enabling more interpretable,
generalizable, and human-aligned driving policies through natural language instructions and chain-of-thought reasoning.
</p>
<!-- <p class="wb-cap">
<strong>Typical inputs</strong>: Multi-View RGB Images, LiDAR Point Clouds, BEV Features, Natural Language Instructions,
Scene Descriptions, Traffic Rules, Ego Status, Context Demonstrations.
</p> -->
<div class="wb-meta" aria-label="VLA Models tags">
<span class="wb-chip">End-to-End VLA</span>
<span class="wb-chip">Dual-System VLA</span>
<span class="wb-chip">Chain-of-Thought</span>
<span class="wb-chip">Instruction Following</span>
<span class="wb-chip">Interpretable Reasoning</span>
</div>
</article>
</div>
<br><br>
</section>
<style>
#definition .wb-bridge {
font-size: 1rem;
line-height: 1.7;
color: #374151;
margin: 1rem 0 .75rem;
}
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display: grid;
grid-template-columns: repeat(4, minmax(0, 1fr));
gap: 1.25rem;
margin-top: .5rem;
}
@media (max-width: 1200px) {
#definition .wb-grid-4 { grid-template-columns: repeat(3, minmax(0, 1fr)); }
}
@media (max-width: 1024px) {
#definition .wb-grid-4 { grid-template-columns: repeat(2, minmax(0, 1fr)); }
}
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#definition .wb-grid-4 { grid-template-columns: 1fr; }
}
#definition .wb-card h4 {
display: flex; align-items: center; gap: .5rem;
font-size: 1rem; margin: 0 0 .35rem;
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margin: .35rem 0; color: #4b5563; line-height: 1.6;
}
</style>
<section id="projects">
<div class="wb-kicker"><span class="icon is-small">
<img src="assets/survey/figures/category.png" style="height: 1.6em;" loading="lazy">
</span> Collections</div>
<div class="wb-hr" style="margin-bottom:1rem;"></div>
<!-- <div class="wb-hr" style="margin-bottom:1.25rem;"></div> -->
</section>
<section id="va-papers" class="papers-section" data-section-key="va" data-initial="3">
<h2>Vision-Action (VA) Models</h2>
<div class="bar" aria-live="polite">
<div class="tabs" role="tablist" aria-label="Vision-Action Model Categories">
<button class="tab-btn tab-1" role="tab" aria-selected="true" aria-controls="va-panel-a" id="va-tab-a">Action-Only Models</button>
<button class="tab-btn tab-2" role="tab" aria-selected="false" aria-controls="va-panel-b" id="va-tab-b">Perception-Action Models</button>
<button class="tab-btn tab-3" role="tab" aria-selected="false" aria-controls="va-panel-c" id="va-tab-c">Image-Based World Models</button>
<button class="tab-btn tab-4" role="tab" aria-selected="false" aria-controls="va-panel-d" id="va-tab-d">Occupancy-Based World Models</button>
<button class="tab-btn tab-5" role="tab" aria-selected="false" aria-controls="va-panel-e" id="va-tab-e">Latent-Based World Models</button>
</div>
<div class="search" title="">
🔎 <input class="paper-search" type="search" placeholder="Search: Title / Author / Source" />
</div>
<span class="count">0 items</span>
</div>
<!-- Action-Only Models -->
<section id="va-panel-a" class="panel" role="tabpanel" aria-labelledby="va-tab-a" aria-hidden="false">
<div class="list"></div>
</section>
<!-- Perception-Action Models -->
<section id="va-panel-b" class="panel" role="tabpanel" aria-labelledby="va-tab-b" aria-hidden="true">
<div class="list"></div>
</section>
<!-- Image-Based World Models -->
<section id="va-panel-c" class="panel" role="tabpanel" aria-labelledby="va-tab-c" aria-hidden="true">
<div class="list"></div>
</section>
<!-- Occupancy World Models -->
<section id="va-panel-d" class="panel" role="tabpanel" aria-labelledby="va-tab-d" aria-hidden="true">
<div class="list"></div>
</section>
<!-- Latent World Models -->
<section id="va-panel-e" class="panel" role="tabpanel" aria-labelledby="va-tab-e" aria-hidden="true">
<div class="list"></div>
</section>
</section>
<section id="projects">
<hr>
</section>
<section id="vla-papers" class="papers-section" data-section-key="vla" data-initial="3">
<h2>Vision-Language-Action (VLA) Models</h2>
<div class="bar" aria-live="polite">
<div class="tabs" role="tablist" aria-label="Vision-Language-Action Model Categories">
<button class="tab-btn tab-1" role="tab" aria-selected="true" aria-controls="vla-panel-a" id="vla-tab-a">Textual Action Generator</button>
<button class="tab-btn tab-2" role="tab" aria-selected="false" aria-controls="vla-panel-b" id="vla-tab-b">Numerical Action Generator</button>
<button class="tab-btn tab-3" role="tab" aria-selected="false" aria-controls="vla-panel-c" id="vla-tab-c">Explicit Action Guidance</button>
<button class="tab-btn tab-4" role="tab" aria-selected="false" aria-controls="vla-panel-d" id="vla-tab-d">Implicit Representations Transfer</button>
</div>
<div class="search" title="输入关键词过滤（标题、作者、出处）">
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<span class="count">0 items</span>
</div>
<!-- Textual Action Generator -->
<section id="vla-panel-a" class="panel" role="tabpanel" aria-labelledby="vla-tab-a" aria-hidden="false">
<div class="list"></div>
</section>
<!-- Numerical Action Generator -->
<section id="vla-panel-b" class="panel" role="tabpanel" aria-labelledby="vla-tab-b" aria-hidden="true">
<div class="list"></div>
</section>
<!-- Explicit Action Guidance -->
<section id="vla-panel-c" class="panel" role="tabpanel" aria-labelledby="vla-tab-c" aria-hidden="true">
<div class="list"></div>
</section>
<!-- Implicit Representations Transfer -->
<section id="vla-panel-d" class="panel" role="tabpanel" aria-labelledby="vla-tab-d" aria-hidden="true">
<div class="list"></div>
</section>
</section>
<section id="projects">
<hr>
</section>
<section id="dataset-papers" class="papers-section" data-section-key="dataset" data-initial="3">
<h2>Datasets & Benchmarks</h2>
<div class="bar" aria-live="polite">
<div class="tabs" role="tablist" aria-label="Dataset Categories">
<button class="tab-btn tab-1" role="tab" aria-selected="true" aria-controls="dataset-panel-a" id="dataset-tab-a">Vision-Action Datasets</button>
<button class="tab-btn tab-2" role="tab" aria-selected="false" aria-controls="dataset-panel-b" id="dataset-tab-b">Vision-Language-Action Datasets</button>
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<div class="contributor-name">Xiaolu Liu</div>
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<div class="contributor-name">Song Wang</div>
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<div class="contributor-name">Yiyao Zhu</div>
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<a href="https://haoxiaoshuai.github.io/homepage/" target="_blank" aria-label="Homepage"><i class="fas fa-globe"></i> </a>
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<div class="contributor-name">Linfeng Li</div>
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<div class="contributor-name">Hang Song</div>
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<div class="contributor-name">Jun Ma</div>
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<div class="contributor-name">Ziwei Liu</div>
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