CARE-Drive：面向自车轨迹的耦合交替精修方法

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Abstract:Vision-language-action (VLA) models bring multimodal understanding and world knowledge to end-to-end autonomous driving. To further improve the quality of predicted trajectories, existing studies introduce candidate refinement, residual denoising, and token correction. However, these methods typically focus on unified refinement of the entire trajectory, paying limited attention to the distinct physical quantities and their interactions. We further investigate physical specialization and coordination in trajectory refinement, centering on position and heading for simpler and more intuitive correction modeling. To this end, we propose CARE-Drive (Coupled Alternating Refinement for Ego-trajectories), which decomposes trajectory refinement into waypoint residual correction and position-conditioned heading generation. Through imitation learning and a future-token auxiliary task, the backbone provides predictive representations and a base trajectory. The position expert predicts bounded metric waypoint residuals, while the heading expert reconstructs vehicle orientation from adjacent angular increments conditioned on the corrected path. With the backbone frozen, the two experts are optimized alternately through supervised initialization and reinforcement fine-tuning. This design simplifies refinement through clear physical specialization while preserving conditional coupling during prediction and optimization. On NAVSIM v1, CARE-Drive achieves 88.8 PDMS, improving by 2.4 points over the unrefined base trajectories generated by the same backbone. Ablation studies further support the effectiveness of specialized experts and staged training.

Submission history

From: Xiao Ma [view email]
[v1] Wed, 11 Nov 2026 11:39:00 UTC (13,232 KB)