Pith Number

pith:QGOCE4Q3

pith:2026:QGOCE4Q3DQPPKK5JCYYAIHIA2J

not attested not anchored not stored refs pending

ExploreVLA: Dense World Modeling and Exploration for End-to-End Autonomous Driving

Jingru Luo, Liu Ren, Sikai Chen, Xin Ye, Zihao Sheng

Augmenting VLA driving models with future image prediction supplies both dense supervision and an uncertainty signal for safe policy exploration.

arxiv:2604.02714 v2 · 2026-04-03 · cs.CV

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\usepackage{pith}
\pithnumber{QGOCE4Q3DQPPKK5JCYYAIHIA2J}

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Record completeness

1 Bitcoin timestamp

2 Internet Archive

3 Author claim open · sign in to claim

4 Citations open

5 Replications open

✓ Portable graph bundle live · download bundle · merged state

The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Claims

C1strongest claim

Experiments on the NAVSIM and nuScenes benchmarks demonstrate the effectiveness of our approach, achieving a state-of-the-art PDMS score of 93.7 and an EPDMS of 88.8 on NAVSIM.

C2weakest assumption

That the world model's image prediction uncertainty reliably indicates both novelty and safety, allowing the safety-gated reward to produce valuable exploration without introducing unsafe behaviors or training instability.

C3one line summary

ExploreVLA augments VLA driving models with future RGB and depth prediction for dense supervision and uses prediction uncertainty as a safety-gated intrinsic reward for RL-based exploration, reaching SOTA PDMS 93.7 on NAVSIM.

Cited by

2 papers in Pith

Distill to Think, Foresee to Act: Cognitive-Physical Reinforcement Learning for Autonomous Driving

Receipt and verification

First computed	2026-06-30T02:17:20.038914Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

819c22721b1c1ef52ba91630041d00d27f7f0d18bac569471e463cd627b3023f

Aliases

arxiv: 2604.02714 · arxiv_version: 2604.02714v2 · doi: 10.48550/arxiv.2604.02714 · pith_short_12: QGOCE4Q3DQPP · pith_short_16: QGOCE4Q3DQPPKK5J · pith_short_8: QGOCE4Q3

Agent API

Resolver JSON Graph JSON Events JSON Schema Signing key

Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/QGOCE4Q3DQPPKK5JCYYAIHIA2J \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: 819c22721b1c1ef52ba91630041d00d27f7f0d18bac569471e463cd627b3023f

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "66556723c5ac9f806e37ae13c11a8a0060be8111ced4c43e23ac68b1bea9640f",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.CV",
    "submitted_at": "2026-04-03T04:14:13Z",
    "title_canon_sha256": "5a4e080a757fe678ddd72d06339cbe70306a74802b42d0eb1be850379a315768"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2604.02714",
    "kind": "arxiv",
    "version": 2
  }
}