{"id":"https://openalex.org/W7117671457","doi":"https://doi.org/10.48550/arxiv.2512.22939","title":"ColaVLA: Leveraging Cognitive Latent Reasoning for Hierarchical Parallel Trajectory Planning in Autonomous Driving","display_name":"ColaVLA: Leveraging Cognitive Latent Reasoning for Hierarchical Parallel Trajectory Planning in Autonomous Driving","publication_year":2025,"publication_date":"2025-12-28","ids":{"openalex":"https://openalex.org/W7117671457","doi":"https://doi.org/10.48550/arxiv.2512.22939"},"language":null,"primary_location":{"id":"pmh:doi:10.48550/arxiv.2512.22939","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":"publisher-specific-oa","license_id":"https://openalex.org/licenses/publisher-specific-oa","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/A5121625509","display_name":"Qihang Peng","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Peng, Qihang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112962183","display_name":"Xuesong Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Xuesong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028481656","display_name":"Chenye Yang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yang, Chenye","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5121656970","display_name":"Shaoshuai Shi","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shi, Shaoshuai","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5121601506","display_name":"Hongsheng Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Hongsheng","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/T11714","display_name":"Multimodal Machine Learning Applications","score":0.5590999722480774,"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":0.5590999722480774,"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":0.32580000162124634,"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/T10036","display_name":"Advanced Neural Network Applications","score":0.013799999840557575,"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/interpretability","display_name":"Interpretability","score":0.7361999750137329},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.5870000123977661},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5771999955177307},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.5080000162124634},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.46480000019073486},{"id":"https://openalex.org/keywords/prior-probability","display_name":"Prior probability","score":0.4449999928474426},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.4320000112056732},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.42260000109672546},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.4108000099658966}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7631999850273132},{"id":"https://openalex.org/C2781067378","wikidata":"https://www.wikidata.org/wiki/Q17027399","display_name":"Interpretability","level":2,"score":0.7361999750137329},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6211000084877014},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.5870000123977661},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5771999955177307},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.5080000162124634},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.49140000343322754},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.46480000019073486},{"id":"https://openalex.org/C177769412","wikidata":"https://www.wikidata.org/wiki/Q278090","display_name":"Prior probability","level":3,"score":0.4449999928474426},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.4320000112056732},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.42260000109672546},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.4108000099658966},{"id":"https://openalex.org/C193221554","wikidata":"https://www.wikidata.org/wiki/Q5153664","display_name":"Commonsense reasoning","level":2,"score":0.3968000113964081},{"id":"https://openalex.org/C9616225","wikidata":"https://www.wikidata.org/wiki/Q3929429","display_name":"Semantic reasoner","level":2,"score":0.3718000054359436},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.3465000092983246},{"id":"https://openalex.org/C89288958","wikidata":"https://www.wikidata.org/wiki/Q7301504","display_name":"Reasoning system","level":2,"score":0.33250001072883606},{"id":"https://openalex.org/C169900460","wikidata":"https://www.wikidata.org/wiki/Q2200417","display_name":"Cognition","level":2,"score":0.33090001344680786},{"id":"https://openalex.org/C168773036","wikidata":"https://www.wikidata.org/wiki/Q264164","display_name":"Recursion (computer science)","level":2,"score":0.31779998540878296},{"id":"https://openalex.org/C51167844","wikidata":"https://www.wikidata.org/wiki/Q4422623","display_name":"Latent variable","level":2,"score":0.31470000743865967},{"id":"https://openalex.org/C192327766","wikidata":"https://www.wikidata.org/wiki/Q1038799","display_name":"Cognitive robotics","level":3,"score":0.3012999892234802},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.27140000462532043},{"id":"https://openalex.org/C2779304628","wikidata":"https://www.wikidata.org/wiki/Q3503480","display_name":"Face (sociological concept)","level":2,"score":0.2700999975204468},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.26989999413490295},{"id":"https://openalex.org/C81917197","wikidata":"https://www.wikidata.org/wiki/Q628760","display_name":"Selection (genetic algorithm)","level":2,"score":0.26649999618530273},{"id":"https://openalex.org/C37335422","wikidata":"https://www.wikidata.org/wiki/Q6888134","display_name":"Model-based reasoning","level":3,"score":0.2603999972343445},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.2565999925136566},{"id":"https://openalex.org/C161407221","wikidata":"https://www.wikidata.org/wiki/Q4382939","display_name":"Cognitive model","level":3,"score":0.2556999921798706},{"id":"https://openalex.org/C93959086","wikidata":"https://www.wikidata.org/wiki/Q6888345","display_name":"Model selection","level":2,"score":0.2535000145435333}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:doi:10.48550/arxiv.2512.22939","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":"publisher-specific-oa","license_id":"https://openalex.org/licenses/publisher-specific-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},{"id":"doi:10.48550/arxiv.2512.22939","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2512.22939","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":"pmh:doi:10.48550/arxiv.2512.22939","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":"publisher-specific-oa","license_id":"https://openalex.org/licenses/publisher-specific-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.6150714159011841,"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":{"Autonomous":[0],"driving":[1],"requires":[2],"generating":[3],"safe":[4,153],"and":[5,18,39,57,67,94,118,144,152,170,176],"reliable":[6],"trajectories":[7,132],"from":[8,63,87],"complex":[9],"multimodal":[10],"inputs.":[11],"Traditional":[12],"modular":[13],"pipelines":[14],"separate":[15],"perception,":[16],"prediction,":[17],"planning,":[19],"while":[20,148],"recent":[21],"end-to-end":[22],"(E2E)":[23],"systems":[24],"learn":[25],"them":[26],"jointly.":[27],"Vision-language":[28],"models":[29],"(VLMs)":[30],"further":[31],"enrich":[32],"this":[33],"paradigm":[34],"by":[35],"introducing":[36],"cross-modal":[37],"priors":[38],"commonsense":[40],"reasoning,":[41],"yet":[42],"current":[43],"VLM-based":[44],"planners":[45,72],"face":[46],"three":[47],"key":[48],"challenges:":[49],"(i)":[50],"a":[51,80,90,98,134],"mismatch":[52],"between":[53],"discrete":[54],"text":[55,88],"reasoning":[56,86],"continuous":[58],"control,":[59],"(ii)":[60],"high":[61],"latency":[62],"autoregressive":[64],"chain-of-thought":[65],"decoding,":[66],"(iii)":[68],"inefficient":[69],"or":[70],"non-causal":[71],"that":[73,84,162],"limit":[74],"real-time":[75],"deployment.":[76],"We":[77],"propose":[78],"ColaVLA,":[79],"unified":[81,91],"vision-language-action":[82],"framework":[83],"transfers":[85],"to":[89],"latent":[92],"space":[93],"couples":[95],"it":[96],"with":[97,173],"hierarchical,":[99],"parallel":[100],"trajectory":[101,154],"decoder.":[102],"The":[103,124],"Cognitive":[104],"Latent":[105],"Reasoner":[106],"compresses":[107],"scene":[108],"understanding":[109],"into":[110],"compact,":[111],"decision-oriented":[112],"meta-action":[113],"embeddings":[114],"through":[115],"ego-adaptive":[116],"selection":[117],"only":[119],"two":[120],"VLM":[121],"forward":[122,136],"passes.":[123],"Hierarchical":[125],"Parallel":[126],"Planner":[127],"then":[128],"generates":[129],"multi-scale,":[130],"causality-consistent":[131],"in":[133,167],"single":[135],"pass.":[137],"Together,":[138],"these":[139],"components":[140],"preserve":[141],"the":[142,158],"generalization":[143],"interpretability":[145],"of":[146],"VLMs":[147],"enabling":[149],"efficient,":[150],"accurate":[151],"generation.":[155],"Experiments":[156],"on":[157],"nuScenes":[159],"benchmark":[160],"show":[161],"ColaVLA":[163],"achieves":[164],"state-of-the-art":[165],"performance":[166],"both":[168],"open-loop":[169],"closed-loop":[171],"settings":[172],"favorable":[174],"efficiency":[175],"robustness.":[177]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2025-12-31T00:00:00"}