{"id":"https://openalex.org/W7134830264","doi":"https://doi.org/10.48550/arxiv.2603.08113","title":"SAMoE-VLA: A Scene Adaptive Mixture-of-Experts Vision-Language-Action Model for Autonomous Driving","display_name":"SAMoE-VLA: A Scene Adaptive Mixture-of-Experts Vision-Language-Action Model for Autonomous Driving","publication_year":2026,"publication_date":"2026-03-09","ids":{"openalex":"https://openalex.org/W7134830264","doi":"https://doi.org/10.48550/arxiv.2603.08113"},"language":null,"primary_location":{"id":"pmh:doi:10.48550/arxiv.2603.08113","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":null,"any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5128675721","display_name":"Zihan You","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"You, Zihan","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128650537","display_name":"Hongwei Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Hongwei","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5122918021","display_name":"Chenxu Dang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Dang, Chenxu","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128644197","display_name":"Zhe Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Zhe","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5125729321","display_name":"Sining Ang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ang, Sining","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014340023","display_name":"Aoqi Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Aoqi","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5128635323","display_name":"Yan Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Yan","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5128675721"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9031999707221985,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9031999707221985,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.029600000008940697,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.018699999898672104,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.5425999760627747},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.5238999724388123},{"id":"https://openalex.org/keywords/selection","display_name":"Selection (genetic algorithm)","score":0.47279998660087585},{"id":"https://openalex.org/keywords/weighting","display_name":"Weighting","score":0.4702000021934509},{"id":"https://openalex.org/keywords/action-selection","display_name":"Action selection","score":0.45750001072883606},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.4410000145435333},{"id":"https://openalex.org/keywords/security-token","display_name":"Security token","score":0.4221000075340271},{"id":"https://openalex.org/keywords/code","display_name":"Code (set theory)","score":0.4097000062465668}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6970000267028809},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5992000102996826},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.5425999760627747},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.5238999724388123},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.4778999984264374},{"id":"https://openalex.org/C81917197","wikidata":"https://www.wikidata.org/wiki/Q628760","display_name":"Selection (genetic algorithm)","level":2,"score":0.47279998660087585},{"id":"https://openalex.org/C183115368","wikidata":"https://www.wikidata.org/wiki/Q856577","display_name":"Weighting","level":2,"score":0.4702000021934509},{"id":"https://openalex.org/C166109690","wikidata":"https://www.wikidata.org/wiki/Q4677422","display_name":"Action selection","level":3,"score":0.45750001072883606},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.4410000145435333},{"id":"https://openalex.org/C48145219","wikidata":"https://www.wikidata.org/wiki/Q1335365","display_name":"Security token","level":2,"score":0.4221000075340271},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.4097000062465668},{"id":"https://openalex.org/C125411270","wikidata":"https://www.wikidata.org/wiki/Q18653","display_name":"Encoding (memory)","level":2,"score":0.3887999951839447},{"id":"https://openalex.org/C58328972","wikidata":"https://www.wikidata.org/wiki/Q184609","display_name":"Expert system","level":2,"score":0.37720000743865967},{"id":"https://openalex.org/C115086926","wikidata":"https://www.wikidata.org/wiki/Q17004651","display_name":"Causal reasoning","level":3,"score":0.3531999886035919},{"id":"https://openalex.org/C137293760","wikidata":"https://www.wikidata.org/wiki/Q3621696","display_name":"Language model","level":2,"score":0.3522000014781952},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.3352000117301941},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.30570000410079956},{"id":"https://openalex.org/C11671645","wikidata":"https://www.wikidata.org/wiki/Q5054567","display_name":"Causal model","level":2,"score":0.2858999967575073},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.2831999957561493},{"id":"https://openalex.org/C2779843651","wikidata":"https://www.wikidata.org/wiki/Q7390335","display_name":"SIGNAL (programming language)","level":2,"score":0.2624000012874603},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.2531000077724457},{"id":"https://openalex.org/C2777508537","wikidata":"https://www.wikidata.org/wiki/Q7936620","display_name":"Visual reasoning","level":2,"score":0.25270000100135803}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:doi:10.48550/arxiv.2603.08113","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},{"id":"doi:10.48550/arxiv.2603.08113","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.08113","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:doi:10.48550/arxiv.2603.08113","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"sustainable_development_goals":[{"score":0.7900152802467346,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Recent":[0],"advances":[1],"in":[2,10,43,49],"Vision-Language-Action":[3,69],"(VLA)":[4],"models":[5,41],"have":[6],"shown":[7],"promising":[8],"capabilities":[9],"autonomous":[11,50],"driving":[12,111],"by":[13],"leveraging":[14],"the":[15,89,151],"understanding":[16],"and":[17,46,59,106,123,139,157,170],"reasoning":[18,118,146],"strengths":[19],"of":[20,80],"Large":[21],"Language":[22],"Models(LLMs).However,":[23],"our":[24],"empirical":[25],"analysis":[26],"reveals":[27],"that":[28,71,97,133,162],"directly":[29],"applying":[30],"existing":[31],"token-level":[32],"MoE":[33,90],"mechanisms--which":[34],"are":[35],"inherited":[36],"from":[37,93],"LLM":[38],"architectures--to":[39],"VLA":[40],"results":[42],"unstable":[44],"performance":[45],"safety":[47],"degradation":[48],"driving,":[51],"highlighting":[52],"a":[53,67,127,143],"misalignment":[54],"between":[55],"token-based":[56],"expert":[57,73,104],"specialization":[58],"scene-level":[60],"decision-making.To":[61],"address":[62],"this,":[63],"we":[64,125],"propose":[65],"SAMoE-VLA,":[66],"scene-adaptive":[68],"framework":[70],"conditions":[72],"selection":[74],"on":[75,150],"structured":[76],"scene":[77,100],"representations":[78],"instead":[79],"token":[81],"embeddings.":[82],"Our":[83],"key":[84],"idea":[85],"is":[86],"to":[87,109,114],"derive":[88],"routing":[91],"signal":[92],"bird's-eye-view":[94],"(BEV)":[95],"features":[96],"encapsulates":[98],"traffic":[99],"context,":[101],"enabling":[102],"scenario-dependent":[103],"weighting":[105],"merging":[107],"tailored":[108],"distinct":[110],"conditions.":[112],"Furthermore,":[113],"support":[115],"temporally":[116],"consistent":[117],"across":[119],"world-knowledge,":[120],"perception,":[121],"language,":[122],"action,":[124],"introduce":[126],"Conditional":[128],"Cross-Modal":[129],"Causal":[130],"Attention":[131],"mechanism":[132],"integrates":[134],"world":[135],"state,":[136],"linguistic":[137],"intent,":[138],"action":[140],"history":[141],"into":[142],"unified":[144],"causal":[145],"process.":[147],"Extensive":[148],"experiments":[149],"nuScenes":[152],"open":[153],"loop":[154],"planning":[155],"dataset":[156],"LangAuto":[158],"closed-loop":[159],"benchmark":[160],"demonstrate":[161],"SAMoE-VLA":[163],"achieves":[164],"state-of-the-art":[165],"performance,":[166],"outperforming":[167],"prior":[168],"VLA-based":[169],"world-model-based":[171],"approaches":[172],"with":[173],"fewer":[174],"parameters.Our":[175],"code":[176],"will":[177],"be":[178],"released":[179],"soon.":[180]},"counts_by_year":[],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2026-03-11T00:00:00"}
