ReAL-AD combines VLM-generated strategy and tactical commands with a two-stage trajectory decoder, cutting open-loop L2 error and collision rate by about a third on nuScenes and Bench2Drive.
Driving with llms: Fusing object-level vec- tor modality for explainable autonomous driving
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ReAL-AD: Towards Human-Like Reasoning in End-to-End Autonomous Driving
ReAL-AD combines VLM-generated strategy and tactical commands with a two-stage trajectory decoder, cutting open-loop L2 error and collision rate by about a third on nuScenes and Bench2Drive.