arXiv cs.AI· Yuqi Ye, Caigao Jiang, Zhuonan Wang, Congyuan Pei, Chao Qu, Changhao Peng, Junhong Lin, Qize Yu, Zetian Song, Guangzhao Fu, Chongruo Wu, Shiyu Huang, Shuchang Zhou, Honggou Yang, Wei Gao·· 3 天前AI 评分42
AUGUstus：统一生成与理解的自动驾驶 VLA 模型
AUGUstus: Autonomous Driving VLA Model with Unified Generation and Understanding
AI 导读
AUGUstus 是一个将扩散式动作生成与自回归 CoT 理解统一在一个模型中的自动驾驶 VLA 模型，理解仅服务于生成，并通过 AUGUstus-mode 让推理只需输出动作以实现低延迟。
正文 · 原文
Authors:Yuqi Ye, Caigao Jiang, Zhuonan Wang, Congyuan Pei, Chao Qu, Changhao Peng, Junhong Lin, Qize Yu, Zetian Song, Guangzhao Fu, Chongruo Wu, Shiyu Huang, Shuchang Zhou, Honggou Yang, Wei Gao
Abstract:Vision-language-action (VLA) models show strong potential for end-to-end autonomous driving by leveraging world knowledge and understanding to excel in long-tail scenarios. However, current VLAs have two limitations: 1) Degeneration into vision-action (VA) models. For low latency, regression/flow-based methods directly generate actions but underuse VLM understanding, causing unsafe, unexplainable actions. 2) Autoregressive high latency. Autoregressive methods sequentially generate chain-of-thought (CoT) and action tokens, fully leveraging VLM understanding, but high latency hinders deployment. To enable low-latency deployment while using CoT to assist action generation, we propose AUGUstus, an Autonomous-driving VLA model with Unified Generation and Understanding. We unify diffusion-based action generation and autoregressive CoT understanding in one model, where understanding only serves generation. Joint CoT supervision preserves VLM spatial understanding in shared representation for safer, more accurate trajectories. AUGUstus-mode orders action generation before CoT, so CoT supervises reliable actions during training while inference needs only action output, enabling low latency. AUGUstus-GRPO, a unified GRPO algorithm, jointly optimizes action and CoT, improving action performance. Experiments show AUGUstus achieves 94.6 PDMS on NAVSIMv1 and 90.7 EPDMS on NAVSIMv2, SOTA planning without scorer module. On nuScenes, it achieves average L2 error 0.27 m and average collision rate 0.05%, best among compared methods. To validate AUGUstus practicality, we train on in-house data with 512 NVIDIA H800 GPUs for ~2 days, evaluate on an internal 1,000 km dataset, and preliminarily deploy on a real vehicle, achieving 12 Hz operation. Project page: this https URL
| Subjects: | Computer Vision and Pattern Recognition (cs.CV); Artificial Intelligence (cs.AI) |
| Cite as: | arXiv:2610.16985 [cs.CV] |
| (or arXiv:2610.16985v1 [cs.CV] for this version) | |
| https://doi.org/10.48550/arXiv.2610.16985 arXiv-issued DOI via DataCite (pending registration) |
Submission history
From: Yuqi Ye [view email]
[v1]
Mon, 12 Oct 2026 15:42:09 UTC (15,075 KB)
来源：arXiv cs.AI · arxiv.org