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arXiv · 2609.27747

Less Language, More Latents: Annotation-Efficient VLAs for Driving

Alexey Zakharov·Kemal Oksuz·Puneet K. Dokania
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Abstract

Vision-language-action models (VLA) promise human-steerable autonomous driving, but their training is bottlenecked by the scarcity of frames paired with natural-language instructions: while camera streams and expert trajectories are logged at scale, language annotations (e.g., turn left at the intersection) remain scarce and expensive to acquire. To address this challenge, we introduce Latent Action Driving Annotations (LADA), a three-stage pipeline that transforms abundant unlabelled observation-trajectory pairs into a substrate for language-conditioned control. First, we train a latent action model with a vector-quantised bottleneck, producing a compact codebook of high-level vehicle intents. Second, a small language-annotated subset is used to train a vision-language translator to map observations and language instructions into this codebook. Third, we train a driving VLA on observation-latent-action pairs over the full unlabelled corpus. Using fewer than 5% of language annotations and without leveraging any auxiliary chain-of-thought reasoning or visual question answering streams, LADA achieves a Driving Score of 87.98 and a Success Rate of 70.46% on the closed-loop Bench2Drive benchmark, matching or surpassing fully supervised baselines.

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BibTeXRIS

Alexey Zakharov, Kemal Oksuz, Puneet K. Dokania. 2026-09-23. Less Language, More Latents: Annotation-Efficient VLAs for Driving. https://arxiv.org/abs/2609.27747

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