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arXiv · 2506.05667

DriveAction: A Benchmark for Exploring Human-like Driving Decisions in VLA Models

Yuhan Hao·Zhengning Li·Lei Sun·Weilong Wang·Naixin Yi·Sheng Song·Caihong Qin·Mofan Zhou·Yifei Zhan·Xianpeng Lang
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Abstract

Vision-Language-Action (VLA) models have advanced autonomous driving, but existing benchmarks still lack scenario diversity, reliable action-level annotation, and evaluation protocols aligned with human preferences. To address these limitations, we introduce DriveAction, the first action-driven benchmark specifically designed for VLA models, comprising 16,185 QA pairs generated from 2,610 driving scenarios. DriveAction leverages real-world driving data proactively collected by drivers of autonomous vehicles to ensure broad and representative scenario coverage, offers high-level discrete action labels collected directly from drivers' actual driving operations, and implements an action-rooted tree-structured evaluation framework that explicitly links vision, language, and action tasks, supporting both comprehensive and task-specific assessment. Our experiments demonstrate that state-of-the-art vision-language models (VLMs) require both vision and language guidance for accurate action prediction: on average, accuracy drops by 3.3% without vision input, by 4.1% without language input, and by 8.0% without either. Our evaluation supports precise identification of model bottlenecks with robust and consistent results, thus providing new insights and a rigorous foundation for advancing human-like decisions in autonomous driving.

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Yuhan Hao, Zhengning Li, Lei Sun, Weilong Wang, Naixin Yi, Sheng Song, Caihong Qin, Mofan Zhou, Yifei Zhan, Xianpeng Lang. 2025-06-06. DriveAction: A Benchmark for Exploring Human-like Driving Decisions in VLA Models. https://arxiv.org/abs/2506.05667

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