SparseOccVLA: Bridging Occupancy and Vision-Language Models via Sparse Queries for Unified 4D Scene Understanding and Planning
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arXiv
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| Autori principali: | , , , , , , , , |
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| Natura: | Preprint |
| Pubblicazione: |
2026
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| _version_ | 1866914259918651392 |
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| author | Dang, Chenxu Wang, Jie Li, Guang Hou, Zhiwen You, Zihan Ye, Hangjun Ma, Jie Chen, Long Wang, Yan |
| author_facet | Dang, Chenxu Wang, Jie Li, Guang Hou, Zhiwen You, Zihan Ye, Hangjun Ma, Jie Chen, Long Wang, Yan |
| contents | In autonomous driving, Vision Language Models (VLMs) excel at high-level reasoning , whereas semantic occupancy provides fine-grained details. Despite significant progress in individual fields, there is still no method that can effectively integrate both paradigms. Conventional VLMs struggle with token explosion and limited spatiotemporal reasoning, while semantic occupancy provides a unified, explicit spatial representation but is too dense to integrate efficiently with VLMs. To address these challenges and bridge the gap between VLMs and occupancy, we propose SparseOccVLA, a novel vision-language-action model that unifies scene understanding, occupancy forecasting, and trajectory planning powered by sparse occupancy queries. Starting with a lightweight Sparse Occupancy Encoder, SparseOccVLA generates compact yet highly informative sparse occupancy queries that serve as the single bridge between vision and language. These queries are aligned into the language space and reasoned by the LLM for unified scene understanding and future occupancy forecasting. Furthermore, we introduce an LLM-guided Anchor-Diffusion Planner featuring decoupled anchor scoring and denoising, as well as cross-model trajectory-condition fusion. SparseOccVLA achieves a 7% relative improvement in CIDEr over the state-of-the-art on OmniDrive-nuScenes, a 0.5 increase in mIoU score on Occ3D-nuScenes, and sets state-of-the-art open-loop planning metric on nuScenes benchmark, demonstrating its strong holistic capability. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2601_06474 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | SparseOccVLA: Bridging Occupancy and Vision-Language Models via Sparse Queries for Unified 4D Scene Understanding and Planning Dang, Chenxu Wang, Jie Li, Guang Hou, Zhiwen You, Zihan Ye, Hangjun Ma, Jie Chen, Long Wang, Yan Computer Vision and Pattern Recognition Artificial Intelligence In autonomous driving, Vision Language Models (VLMs) excel at high-level reasoning , whereas semantic occupancy provides fine-grained details. Despite significant progress in individual fields, there is still no method that can effectively integrate both paradigms. Conventional VLMs struggle with token explosion and limited spatiotemporal reasoning, while semantic occupancy provides a unified, explicit spatial representation but is too dense to integrate efficiently with VLMs. To address these challenges and bridge the gap between VLMs and occupancy, we propose SparseOccVLA, a novel vision-language-action model that unifies scene understanding, occupancy forecasting, and trajectory planning powered by sparse occupancy queries. Starting with a lightweight Sparse Occupancy Encoder, SparseOccVLA generates compact yet highly informative sparse occupancy queries that serve as the single bridge between vision and language. These queries are aligned into the language space and reasoned by the LLM for unified scene understanding and future occupancy forecasting. Furthermore, we introduce an LLM-guided Anchor-Diffusion Planner featuring decoupled anchor scoring and denoising, as well as cross-model trajectory-condition fusion. SparseOccVLA achieves a 7% relative improvement in CIDEr over the state-of-the-art on OmniDrive-nuScenes, a 0.5 increase in mIoU score on Occ3D-nuScenes, and sets state-of-the-art open-loop planning metric on nuScenes benchmark, demonstrating its strong holistic capability. |
| title | SparseOccVLA: Bridging Occupancy and Vision-Language Models via Sparse Queries for Unified 4D Scene Understanding and Planning |
| topic | Computer Vision and Pattern Recognition Artificial Intelligence |
| url | https://arxiv.org/abs/2601.06474 |