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arXiv · 2605.31271

DriveMA: Driving Vision-Language-Action Models with verifiable Meta-Actions

Weicheng Zheng·Yixin Huang·Qiao Sun·Derun Li·Hang Zhao
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Abstract

Driving Vision-Language-Action Models (Driving VLAs) aim to use language to improve end-to-end planning, but the language-action gap limits this promise. We propose DriveMA, a Driving VLA framework built on verifiable meta-actions, which summarize future ego motion into compact language-domain intentions and can be constructed from expert trajectories with a trajectory-grounded annotation pipeline and can be verified against generated trajectories through rule-based projection. DriveMA exploits this verifiability with action-centric supervised training and a data-efficient turn-level credit assignment reinforcement learning framework, explicitly aligning high-level decisions with low-level trajectory planning through dense rewards and precise credit assignment. DriveMA sets a new state of the art on the Waymo Open Dataset Vision-based E2E Driving, achieving a Rater Feedback Score of 8.060 with a 2B model and further improving it to 8.079 with a 4B model; it also obtains competitive closed-loop planning performance on NAVSIM. These results show that even a simple meta-action interface can achieve state-of-the-art planning when made verifiable and optimized for language-action alignment. Code, data, and models are available at https://tsinghua-mars-lab.github.io/DriveMA.

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Weicheng Zheng, Yixin Huang, Qiao Sun, Derun Li, Hang Zhao. 2026-07-10. DriveMA: Driving Vision-Language-Action Models with verifiable Meta-Actions. https://arxiv.org/abs/2605.31271

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