TPS-Drive: Task-Guided Representation Purification for VLM-based Autonomous Driving
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arXiv
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| Autori principali: | , , |
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| Natura: | Preprint |
| Pubblicazione: |
2026
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| _version_ | 1866910260763033600 |
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| author | Li, Jiaxiang Liu, Yumao Ma, Ke |
| author_facet | Li, Jiaxiang Liu, Yumao Ma, Ke |
| contents | Vision-Language Models (VLMs) provide a promising foundation for autonomous driving planning, yet bridging semantic reasoning and precise 3D spatial forecasting remains a critical challenge. Existing representation strategies generally follow two paths: text-aligned methods flatten continuous spatial states into symbols, which compromises geometric structure and induces "spatial hallucinations"; dense visual methods preserve spatial topology but overwhelm standard tokenizers with redundant background textures, leading to "representation interference". To address these limitations, we introduce TPS-Drive, a novel framework centered on Task-Guided Representation Purification that empowers VLMs to Think in Purified Space. At its core, an Agent-Centric Tokenizer utilizes a task-guided vector quantization mechanism supervised by a frozen 3D detection head, which explicitly reallocates limited codebook capacity from pervasive static backgrounds to critical dynamic agents and effectively isolates spatial redundancy. Leveraging this purified spatial vocabulary, TPS-Drive employs a decoupled reasoning pipeline that sequentially performs scene understanding, future forecasting, and action generation. The framework is optimized via a progressive three-stage training paradigm, culminating in reward-driven refinement that surpasses pure imitation learning. Extensive experiments validate our approach: TPS-Drive achieves accurate agent spatial state forecasting and reduces collision rates in open-loop nuScenes evaluations, while establishing new safety records on the rigorous closed-loop NAVSIMv1 and NAVSIMv2 benchmarks. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2605_27038 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | TPS-Drive: Task-Guided Representation Purification for VLM-based Autonomous Driving Li, Jiaxiang Liu, Yumao Ma, Ke Robotics Vision-Language Models (VLMs) provide a promising foundation for autonomous driving planning, yet bridging semantic reasoning and precise 3D spatial forecasting remains a critical challenge. Existing representation strategies generally follow two paths: text-aligned methods flatten continuous spatial states into symbols, which compromises geometric structure and induces "spatial hallucinations"; dense visual methods preserve spatial topology but overwhelm standard tokenizers with redundant background textures, leading to "representation interference". To address these limitations, we introduce TPS-Drive, a novel framework centered on Task-Guided Representation Purification that empowers VLMs to Think in Purified Space. At its core, an Agent-Centric Tokenizer utilizes a task-guided vector quantization mechanism supervised by a frozen 3D detection head, which explicitly reallocates limited codebook capacity from pervasive static backgrounds to critical dynamic agents and effectively isolates spatial redundancy. Leveraging this purified spatial vocabulary, TPS-Drive employs a decoupled reasoning pipeline that sequentially performs scene understanding, future forecasting, and action generation. The framework is optimized via a progressive three-stage training paradigm, culminating in reward-driven refinement that surpasses pure imitation learning. Extensive experiments validate our approach: TPS-Drive achieves accurate agent spatial state forecasting and reduces collision rates in open-loop nuScenes evaluations, while establishing new safety records on the rigorous closed-loop NAVSIMv1 and NAVSIMv2 benchmarks. |
| title | TPS-Drive: Task-Guided Representation Purification for VLM-based Autonomous Driving |
| topic | Robotics |
| url | https://arxiv.org/abs/2605.27038 |