{"id":"https://openalex.org/W7165751343","doi":"https://doi.org/10.48550/arxiv.2606.23938","title":"Neuro-Symbolic Drive: Rule-Grounded Faithful Reasoning for Driving VLAs","display_name":"Neuro-Symbolic Drive: Rule-Grounded Faithful Reasoning for Driving VLAs","publication_year":2026,"publication_date":"2026-06-22","ids":{"openalex":"https://openalex.org/W7165751343","doi":"https://doi.org/10.48550/arxiv.2606.23938"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.23938","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.23938","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":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2606.23938","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5103668258","display_name":"Gao X","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Gao, Xiangbo","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5097335681","display_name":"Xiukun Huang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Huang, Xiukun","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101893405","display_name":"Boyu Lu","orcid":"https://orcid.org/0000-0001-5378-5559"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lu, Boyu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139277239","display_name":"Junge Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Junge","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005196528","display_name":"Mengjie Mao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mao, Mengjie","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139301425","display_name":"Jiachen Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Jiachen","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139238787","display_name":"Wei Xiong","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xiong, Wei","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5139279604","display_name":"Zhengzhong Tu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tu, Zhengzhong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"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/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.2425999939441681,"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"}},"topics":[{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.2425999939441681,"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"}},{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.17730000615119934,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.09650000184774399,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/executable","display_name":"Executable","score":0.7455000281333923},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.7249000072479248},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.7044000029563904},{"id":"https://openalex.org/keywords/trace","display_name":"TRACE (psycholinguistics)","score":0.6062999963760376},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5070000290870667},{"id":"https://openalex.org/keywords/qualitative-reasoning","display_name":"Qualitative reasoning","score":0.5031999945640564},{"id":"https://openalex.org/keywords/semantics","display_name":"Semantics (computer science)","score":0.5019999742507935},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.5},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.4828000068664551},{"id":"https://openalex.org/keywords/commonsense-reasoning","display_name":"Commonsense reasoning","score":0.4429999887943268}],"concepts":[{"id":"https://openalex.org/C160145156","wikidata":"https://www.wikidata.org/wiki/Q778586","display_name":"Executable","level":2,"score":0.7455000281333923},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.7249000072479248},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.7044000029563904},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6496000289916992},{"id":"https://openalex.org/C75291252","wikidata":"https://www.wikidata.org/wiki/Q1315756","display_name":"TRACE (psycholinguistics)","level":2,"score":0.6062999963760376},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.558899998664856},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5070000290870667},{"id":"https://openalex.org/C83725634","wikidata":"https://www.wikidata.org/wiki/Q7268699","display_name":"Qualitative reasoning","level":2,"score":0.5031999945640564},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.5019999742507935},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.5},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.4828000068664551},{"id":"https://openalex.org/C193221554","wikidata":"https://www.wikidata.org/wiki/Q5153664","display_name":"Commonsense reasoning","level":2,"score":0.4429999887943268},{"id":"https://openalex.org/C89288958","wikidata":"https://www.wikidata.org/wiki/Q7301504","display_name":"Reasoning system","level":2,"score":0.40709999203681946},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.37869998812675476},{"id":"https://openalex.org/C159032336","wikidata":"https://www.wikidata.org/wiki/Q2488768","display_name":"Non-monotonic logic","level":2,"score":0.37540000677108765},{"id":"https://openalex.org/C86827895","wikidata":"https://www.wikidata.org/wiki/Q7098582","display_name":"Opportunistic reasoning","level":4,"score":0.37040001153945923},{"id":"https://openalex.org/C37335422","wikidata":"https://www.wikidata.org/wiki/Q6888134","display_name":"Model-based reasoning","level":3,"score":0.35740000009536743},{"id":"https://openalex.org/C61423126","wikidata":"https://www.wikidata.org/wiki/Q187432","display_name":"Scripting language","level":2,"score":0.34380000829696655},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.34220001101493835},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3278999924659729},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3278000056743622},{"id":"https://openalex.org/C195344581","wikidata":"https://www.wikidata.org/wiki/Q2555318","display_name":"Automated reasoning","level":2,"score":0.3244999945163727},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.31940001249313354},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.29429998993873596},{"id":"https://openalex.org/C195324797","wikidata":"https://www.wikidata.org/wiki/Q33742","display_name":"Natural language","level":2,"score":0.2937000095844269},{"id":"https://openalex.org/C115086926","wikidata":"https://www.wikidata.org/wiki/Q17004651","display_name":"Causal reasoning","level":3,"score":0.28769999742507935},{"id":"https://openalex.org/C2776608160","wikidata":"https://www.wikidata.org/wiki/Q4785462","display_name":"Natural (archaeology)","level":2,"score":0.27810001373291016},{"id":"https://openalex.org/C97364631","wikidata":"https://www.wikidata.org/wiki/Q484284","display_name":"Deductive reasoning","level":2,"score":0.27469998598098755},{"id":"https://openalex.org/C161301231","wikidata":"https://www.wikidata.org/wiki/Q3478658","display_name":"Knowledge representation and reasoning","level":2,"score":0.2727999985218048},{"id":"https://openalex.org/C43971567","wikidata":"https://www.wikidata.org/wiki/Q3142865","display_name":"Logical reasoning","level":2,"score":0.26429998874664307},{"id":"https://openalex.org/C155911833","wikidata":"https://www.wikidata.org/wiki/Q3817354","display_name":"Spatial intelligence","level":2,"score":0.26249998807907104},{"id":"https://openalex.org/C51929080","wikidata":"https://www.wikidata.org/wiki/Q2425187","display_name":"Codebase","level":3,"score":0.2563000023365021},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.2517000138759613}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.23938","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.23938","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":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2606.23938","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.23938","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":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.6036468148231506}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Driving":[0],"VLA":[1,54],"models":[2],"incorporating":[3],"Chain-of-Thought":[4],"(CoT)":[5],"reasoning":[6,57,81,126,155,175],"are":[7,72,142],"attractive":[8],"because":[9],"they":[10,83,153],"leverage":[11],"pretrained":[12],"VLM":[13],"representations":[14],"and":[15,93,110,127,182,192,197],"expose":[16],"intermediate":[17],"decisions":[18],"in":[19,102],"natural":[20],"language,":[21],"yet":[22],"current":[23],"rationales":[24],"often":[25],"lack":[26],"the":[27,34,39,107,111,130,146,151],"step-by-step":[28],"decision":[29,113],"semantics":[30],"needed":[31],"to":[32,38,104,132,159,180,187,195,199],"keep":[33],"rationale":[35],"causally":[36],"connected":[37],"planned":[40],"motion.":[41],"We":[42,98],"introduce":[43],"Neuro-Symbolic":[44,204],"Drive,":[45],"a":[46,52,95,136],"neuro-symbolic":[47,208],"driving":[48,53,137],"framework":[49],"that":[50,69,76,149],"supervises":[51],"with":[55,129],"rule-grounded":[56,125,174],"traces":[58,141],"extracted":[59],"directly":[60,144],"from":[61,145,178,185,193],"classical":[62],"rule-based":[63,70],"planners.":[64],"Our":[65],"key":[66],"observation":[67],"is":[68,121,156],"planners":[71,101],"symbolic":[73],"AI":[74],"systems":[75],"already":[77],"function":[78],"as":[79,135],"executable":[80],"engines:":[82],"reason":[84],"about":[85],"active":[86],"safety":[87],"constraints,":[88],"search":[89],"over":[90],"candidate":[91],"maneuvers,":[92],"select":[94],"final":[96],"trajectory.":[97],"instrument":[99],"these":[100,140],"simulation":[103],"capture":[105],"both":[106],"executed":[108],"trajectory":[109,131],"internal":[112],"trace":[114,120],"at":[115],"each":[116],"rule-evaluation":[117],"step.":[118],"Each":[119],"serialized":[122],"into":[123,211],"structured":[124,212],"paired":[128],"fine-tune":[133],"Qwen3.5-4B":[134],"VLA.":[138],"Because":[139],"derived":[143],"planner":[147],"states":[148],"determine":[150],"action,":[152],"ensure":[154],"structurally":[157],"coupled":[158],"motion":[160],"generation":[161],"by":[162,166],"construction,":[163],"rather":[164],"than":[165],"post-hoc":[167],"alignment.":[168],"On":[169],"our":[170],"simulator-generated":[171],"benchmark,":[172],"detailed":[173],"reduces":[176],"ADE@3s":[177],"0.47":[179],"0.26":[181,196],"miss":[183],"rate":[184],"8.30%":[186],"6.40%":[188],"under":[189,201],"three-camera":[190],"perception,":[191],"0.54":[194],"10.13%":[198],"5.99%":[200],"eight-camera":[202],"perception.":[203],"Drive":[205],"thus":[206],"converts":[207],"planning":[209],"logic":[210],"supervision.":[213],"Code":[214],"base:":[215],"https://github.com/XiangboGaoBarry/Neural-Symbolic-Drive.":[216]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-06-25T00:00:00"}