{"id":"https://openalex.org/W7147598337","doi":"https://doi.org/10.48550/arxiv.2603.28116","title":"$AutoDrive\\text{-}P^3$: Unified Chain of Perception-Prediction-Planning Thought via Reinforcement Fine-Tuning","display_name":"$AutoDrive\\text{-}P^3$: Unified Chain of Perception-Prediction-Planning Thought via Reinforcement Fine-Tuning","publication_year":2026,"publication_date":"2026-03-30","ids":{"openalex":"https://openalex.org/W7147598337","doi":"https://doi.org/10.48550/arxiv.2603.28116"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.28116","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.28116","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"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":"https://doi.org/10.48550/arxiv.2603.28116","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101658179","display_name":"Yuqi Ye","orcid":"https://orcid.org/0000-0002-2237-3380"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Ye, Yuqi","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5132730350","display_name":"Zijian Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Zijian","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5132702660","display_name":"Junhong Lin","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lin, Junhong","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5132545087","display_name":"Shangkun Sun","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sun, Shangkun","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5132600024","display_name":"Changhao Peng","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Peng, Changhao","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5132576183","display_name":"Wei Gao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Gao, Wei","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5101658179"],"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":0.39340001344680786,"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":0.39340001344680786,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.18569999933242798,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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":0.14190000295639038,"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/reinforcement-learning","display_name":"Reinforcement learning","score":0.7473999857902527},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.6244000196456909},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.5641000270843506},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.4860000014305115},{"id":"https://openalex.org/keywords/safer","display_name":"SAFER","score":0.48100000619888306},{"id":"https://openalex.org/keywords/code","display_name":"Code (set theory)","score":0.42149999737739563},{"id":"https://openalex.org/keywords/dual","display_name":"Dual (grammatical number)","score":0.41440001130104065},{"id":"https://openalex.org/keywords/encoding","display_name":"Encoding (memory)","score":0.35920000076293945}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.7473999857902527},{"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/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.6244000196456909},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5703999996185303},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.5641000270843506},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.4860000014305115},{"id":"https://openalex.org/C2776654903","wikidata":"https://www.wikidata.org/wiki/Q2601463","display_name":"SAFER","level":2,"score":0.48100000619888306},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.42149999737739563},{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.41440001130104065},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.4011000096797943},{"id":"https://openalex.org/C125411270","wikidata":"https://www.wikidata.org/wiki/Q18653","display_name":"Encoding (memory)","level":2,"score":0.35920000076293945},{"id":"https://openalex.org/C114073186","wikidata":"https://www.wikidata.org/wiki/Q2631895","display_name":"Automated planning and scheduling","level":2,"score":0.3465000092983246},{"id":"https://openalex.org/C2776010242","wikidata":"https://www.wikidata.org/wiki/Q4677575","display_name":"Active perception","level":3,"score":0.3425000011920929},{"id":"https://openalex.org/C207685749","wikidata":"https://www.wikidata.org/wiki/Q2088941","display_name":"Domain knowledge","level":2,"score":0.32359999418258667},{"id":"https://openalex.org/C13687954","wikidata":"https://www.wikidata.org/wiki/Q4826847","display_name":"Autonomous agent","level":2,"score":0.3102000057697296},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.29339998960494995},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.27149999141693115},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.26809999346733093},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.25540000200271606},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.2551000118255615}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.28116","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.28116","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2603.28116","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.28116","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[{"score":0.7572920918464661,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Vision-language":[0],"models":[1],"(VLMs)":[2],"are":[3],"increasingly":[4],"being":[5],"adopted":[6],"for":[7,63,145,155],"end-to-end":[8],"autonomous":[9,177],"driving":[10],"systems":[11],"due":[12],"to":[13,81,117,167,180],"their":[14],"exceptional":[15],"performance":[16,212],"in":[17,213],"handling":[18],"long-tail":[19],"scenarios.":[20],"However,":[21],"current":[22],"VLM-based":[23],"approaches":[24],"suffer":[25],"from":[26],"two":[27],"major":[28],"limitations:":[29],"1)":[30],"Some":[31],"VLMs":[32,59],"directly":[33],"output":[34],"planning":[35,67,90,170,214],"results":[36],"without":[37],"chain-of-thought":[38],"(CoT)":[39],"reasoning,":[40],"bypassing":[41],"crucial":[42],"perception":[43,151,162],"and":[44,53,66,107,121,143,148,158,163,174,193,202],"prediction":[45,157,164],"stages":[46],"which":[47],"creates":[48],"a":[49,71,82,99,124],"significant":[50,83],"domain":[51],"gap":[52],"compromises":[54],"decision-making":[55,73],"capability;":[56],"2)":[57],"Other":[58],"can":[60],"generate":[61],"outputs":[62],"perception,":[64,146],"prediction,":[65,147],"tasks":[68],"but":[69],"employ":[70],"fragmented":[72],"approach":[74,209],"where":[75,150],"these":[76,94],"modules":[77],"operate":[78],"separately,":[79],"leading":[80],"lack":[84],"of":[85],"synergy":[86],"that":[87,102,129,207],"undermines":[88],"true":[89],"performance.":[91],"To":[92],"address":[93],"limitations,":[95],"we":[96,186],"propose":[97,122],"${AutoDrive\\text{-}P^3}$,":[98],"novel":[100],"framework":[101],"seamlessly":[103],"integrates":[104],"$\\textbf{P}$erception,":[105],"$\\textbf{P}$rediction,":[106],"$\\textbf{P}$lanning":[108],"through":[109],"structured":[110],"reasoning.":[111],"We":[112],"introduce":[113,187],"the":[114,168],"${P^3\\text{-}CoT}$":[115],"dataset":[116],"facilitate":[118],"coherent":[119],"reasoning":[120,142],"${P^3\\text{-}GRPO}$,":[123],"hierarchical":[125],"reinforcement":[126],"learning":[127],"algorithm":[128],"provides":[130,152],"progressive":[131],"supervision":[132],"across":[133],"all":[134],"three":[135],"tasks.":[136,215],"Specifically,":[137],"${AutoDrive\\text{-}P^3}$":[138],"progressively":[139],"generates":[140],"CoT":[141],"answers":[144],"planning,":[149,159],"essential":[153],"information":[154],"subsequent":[156],"while":[160],"both":[161,199],"collectively":[165],"contribute":[166],"final":[169],"decisions,":[171],"enabling":[172],"safer":[173],"more":[175],"interpretable":[176],"driving.":[178],"Additionally,":[179],"balance":[181],"inference":[182],"efficiency":[183],"with":[184],"performance,":[185],"dual":[188],"thinking":[189,192],"modes:":[190],"detailed":[191],"fast":[194],"thinking.":[195],"Extensive":[196],"experiments":[197],"on":[198],"open-loop":[200],"(nuScenes)":[201],"closed-loop":[203],"(NAVSIMv1/v2)":[204],"benchmarks":[205],"demonstrate":[206],"our":[208],"achieves":[210],"state-of-the-art":[211],"Code":[216],"is":[217],"available":[218],"at":[219],"https://github.com/haha-yuki-haha/AutoDrive-P3.":[220]},"counts_by_year":[],"updated_date":"2026-04-02T13:53:19.096889","created_date":"2026-04-02T00:00:00"}