OccVLA: 暗黙的3D占有監督を備えた視覚-言語-行動モデル
OccVLA: Vision-Language-Action Model with Implicit 3D Occupancy Supervision
2D画像から3D占有を予測・監督信号として学習し、推論時には計算負荷を増やさずに自動運転の軌道計画と3D視覚質問応答で最高性能を達成したVLAモデル。
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著者: Ruixun Liu, Lingyu Kong, Derun Li, Hang Zhao
分類: cs.AI, cs.RO
原文アブストラクト
Multimodal large language models (MLLMs) have shown strong vision-language reasoning abilities but still lack robust 3D spatial understanding, which is critical for autonomous driving. This limitation stems from two key challenges: (1) the difficulty of constructing accessible yet effective 3D representations without expensive manual annotations, and (2) the loss of fine-grained spatial details in VLMs due to the absence of large-scale 3D vision-language pretraining. To address these challenges, we propose OccVLA, a novel framework that integrates 3D occupancy representations into a unified multimodal reasoning process. Unlike prior approaches that rely on explicit 3D inputs, OccVLA treats dense 3D occupancy as both a predictive output and a supervisory signal, enabling the model to learn fine-grained spatial structures directly from 2D visual inputs. The occupancy predictions are regarded as implicit reasoning processes and can be skipped during inference without performance degradation, thereby adding no extra computational overhead. OccVLA achieves state-of-the-art results on the nuScenes benchmark for trajectory planning and demonstrates superior performance on 3D visual question-answering tasks, offering a scalable, interpretable, and fully vision-based solution for autonomous driving.
