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Continuous Actions from Discrete Minds: Latent-Aligned Planning for End-to-End Autonomous Driving

arXiv · AI, language, vision and robotics · article · Sep 3, 2026 · UTC

Bridging the gap between the discrete reasoning of Vision-Language Models and the continuous, physics-constrained nature of autonomous driving remains a significant challenge. In this work, we introduce LaPla, a unified Vision-Language-Action (VLA) framework featuring latent-aligned planning to seamlessly ground semantic understanding in precise motion execution. We first design an action tokenizer based on a residual vector-quantized variational autoencoder (VQ-VAE), capturing vehicle kinematics and encoding trajectory features into a structured latent space. Rather than discrete codebook loo

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