Grounding Driving VLA via Inverse Kinematics
Existing Driving VLAs predict trajectories while largely ignoring their visual tokens -- a phenomenon we trace not to insufficient training but to a structurally ill-posed task formulation. We show that trajectory recovery, when viewed through the lens of inverse kinematics, requires both a current and a future visual state as boundary conditions; existing VLAs supply only the former, which encourages the model to shortcut through ego status and text commands alone. To address this, we re-design Driving VLA in the style of an inverse kinematics solver. First, a next visual state prediction objective that requires the LLM to predict the future visual scene provides dense visual supervision...
| Authors | Junsung Park, Hyunjung Shim |
|---|---|
| Primary category | cs.CV |
| Published | 20 May 2026 |
| Last updated at source | 20 May 2026 |
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