[2603.25741] Vega: Learning to Drive with Natural Language Instructions

Computer Science > Computer Vision and Pattern Recognition arXiv:2603.25741 (cs) [Submitted on 26 Mar 2026] Title:Vega: Learning to Drive with Natural Language Instructions Authors:Sicheng Zuo, Yuxuan Li, Wenzhao Zheng, Zheng Zhu, Jie Zhou, Jiwen Lu View a PDF of the paper titled Vega: Learning to Drive with Natural Language Instructions, by Sicheng Zuo and 5 other authors View PDF HTML (experimental) Abstract:Vision-language-action models have reshaped autonomous driving to incorporate languages into the decision-making process. However, most existing pipelines only utilize the language modality for scene descriptions or reasoning and lack the flexibility to follow diverse user instructions for personalized driving. To address this, we first construct a large-scale driving dataset (InstructScene) containing around 100,000 scenes annotated with diverse driving instructions with the corresponding trajectories. We then propose a unified Vision-Language-World-Action model, Vega, for instruction-based generation and planning. We employ the autoregressive paradigm to process visual inputs (vision) and language instructions (language) and the diffusion paradigm to generate future predictions (world modeling) and trajectories (action). We perform joint attention to enable interactions between the modalities and use individual projection layers for different modalities for more capabilities. Extensive experiments demonstrate that our method not only achieves superior planning perf...