# Senna: Bridging Large Vision-Language Models and End-to-End Autonomous Driving

arXiv: https://arxiv.org/abs/2410.22313 · HTML: https://mlsanity.com/paper/2410.22313/

## Key facts

- Cited by 156 papers in the map (data through 14 Oct 2026).
- Placed in Driving VLMs and open-vocabulary detection, one of 16 directions in Multimodal LLMs / vision-language models.
- Builds on 62 of its 88 references that are in the map.
- First posted on arXiv 29 Oct 2024.

## Placed in

- Multimodal LLMs / vision-language models / [Driving VLMs and open-vocabulary detection](https://mlsanity.com/mllm/driving-vlms-and-open-vocabulary-detection/)
- End-to-end autonomous driving / [Reasoning VLA and VLM driving policies](https://mlsanity.com/driving/reasoning-vla-and-vlm-driving-policies/)

## Builds on (most cited first, 30 of 62)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [Learning Transferable Visual Models From Natural Language Supervision](https://mlsanity.com/paper/2103.00020/) (2021)
- [Language Models are Few-Shot Learners](https://mlsanity.com/paper/2005.14165/) (2020)
- [GPT-4 Technical Report](https://mlsanity.com/paper/2303.08774/) (2023)
- [LLaMA: Open and Efficient Foundation Language Models](https://mlsanity.com/paper/2302.13971/) (2023)
- [Judging LLM-as-a-Judge with MT-Bench and Chatbot Arena](https://mlsanity.com/paper/2306.05685/) (2023)
- [Visual Instruction Tuning](https://mlsanity.com/paper/2304.08485/) (2023)
- [BLIP-2: Bootstrapping Language-Image Pre-training with Frozen Image Encoders and Large Language Models](https://mlsanity.com/paper/2301.12597/) (2023)
- [Measuring Mathematical Problem Solving With the MATH Dataset](https://mlsanity.com/paper/2103.03874/) (2021)
- [nuScenes: A multimodal dataset for autonomous driving](https://mlsanity.com/paper/1903.11027/) (2019)
- [Improved Baselines with Visual Instruction Tuning](https://mlsanity.com/paper/2310.03744/) (2023)
- [BLIP: Bootstrapping Language-Image Pre-training for Unified Vision-Language Understanding and Generation](https://mlsanity.com/paper/2201.12086/) (2022)
- [Qwen2-VL: Enhancing Vision-Language Model's Perception of the World at Any Resolution](https://mlsanity.com/paper/2409.12191/) (2024)
- [Scaling Up Visual and Vision-Language Representation Learning With Noisy Text Supervision](https://mlsanity.com/paper/2102.05918/) (2021)
- [Gaussian Error Linear Units (GELUs)](https://mlsanity.com/paper/1606.08415/) (2016)
- [InstructBLIP: Towards General-purpose Vision-Language Models with Instruction Tuning](https://mlsanity.com/paper/2305.06500/) (2023)
- [MiniGPT-4: Enhancing Vision-Language Understanding with Advanced Large Language Models](https://mlsanity.com/paper/2304.10592/) (2023)
- [InternVL: Scaling up Vision Foundation Models and Aligning for Generic Visual-Linguistic Tasks](https://mlsanity.com/paper/2312.14238/) (2023)
- [CARLA: An Open Urban Driving Simulator](https://mlsanity.com/paper/1711.03938/) (2017)
- [ViLBERT: Pretraining Task-Agnostic Visiolinguistic Representations for Vision-and-Language Tasks](https://mlsanity.com/paper/1908.02265/) (2019)
- [Qwen2 Technical Report](https://mlsanity.com/paper/2407.10671/) (2024)
- [CIDEr: Consensus-based Image Description Evaluation](https://mlsanity.com/paper/1411.5726/) (2014)
- [LXMERT: Learning Cross-Modality Encoder Representations from Transformers](https://mlsanity.com/paper/1908.07490/) (2019)
- [BEVFormer: Learning Bird's-Eye-View Representation from Multi-Camera Images via Spatiotemporal Transformers](https://mlsanity.com/paper/2203.17270/) (2022)
- [PaLM 2 Technical Report](https://mlsanity.com/paper/2305.10403/) (2023)
- [Planning-oriented Autonomous Driving](https://mlsanity.com/paper/2212.10156/) (2022)
- [Lift, Splat, Shoot: Encoding Images From Arbitrary Camera Rigs by Implicitly Unprojecting to 3D](https://mlsanity.com/paper/2008.05711/) (2020)
- [CogVLM: Visual Expert for Pretrained Language Models](https://mlsanity.com/paper/2311.03079/) (2023)
- [VILA: On Pre-training for Visual Language Models](https://mlsanity.com/paper/2312.07533/) (2023)
- [EVA: Exploring the Limits of Masked Visual Representation Learning at Scale](https://mlsanity.com/paper/2211.07636/) (2022)

## Built on by (most cited first, 30 of 156)

- [AutoVLA: A Vision-Language-Action Model for End-to-End Autonomous Driving with Adaptive Reasoning and Reinforcement Fine-Tuning](https://mlsanity.com/paper/2506.13757/) (2025)
- [ReCogDrive: A Reinforced Cognitive Framework for End-to-End Autonomous Driving](https://mlsanity.com/paper/2506.08052/) (2025)
- [ORION: A Holistic End-to-End Autonomous Driving Framework by Vision-Language Instructed Action Generation](https://mlsanity.com/paper/2503.19755/) (2025)
- [OpenDriveVLA: Towards End-to-end Autonomous Driving with Large Vision Language Action Model](https://mlsanity.com/paper/2503.23463/) (2025)
- [Alpamayo-R1: Bridging Reasoning and Action Prediction for Generalizable Autonomous Driving in the Long Tail](https://mlsanity.com/paper/2511.00088/) (2025)
- [Are VLMs Ready for Autonomous Driving? An Empirical Study from the Reliability, Data, and Metric Perspectives](https://mlsanity.com/paper/2501.04003/) (2025)
- [AlphaDrive: Unleashing the Power of VLMs in Autonomous Driving via Reinforcement Learning and Reasoning](https://mlsanity.com/paper/2503.07608/) (2025)
- [A Survey on Vision-Language-Action Models for Autonomous Driving](https://mlsanity.com/paper/2506.24044/) (2025)
- [DiffVLA: Vision-Language Guided Diffusion Planning for Autonomous Driving](https://mlsanity.com/paper/2505.19381/) (2025)
- [Impromptu VLA: Open Weights and Open Data for Driving Vision-Language-Action Models](https://mlsanity.com/paper/2505.23757/) (2025)
- [AdaThinkDrive: Adaptive Thinking via Reinforcement Learning for Autonomous Driving](https://mlsanity.com/paper/2509.13769/) (2025)
- [Qwen-VLA: Unifying Vision-Language-Action Modeling across Tasks, Environments, and Robot Embodiments](https://mlsanity.com/paper/2605.30280/) (2026)
- [SGDrive: Scene-to-Goal Hierarchical World Cognition for Autonomous Driving](https://mlsanity.com/paper/2601.05640/) (2026)
- [AutoTrust: Benchmarking Trustworthiness in Large Vision Language Models for Autonomous Driving](https://mlsanity.com/paper/2412.15206/) (2024)
- [Vision-Language-Action Models for Autonomous Driving: Past, Present, and Future](https://mlsanity.com/paper/2512.16760/) (2025)
- [IRL-VLA: Training an Vision-Language-Action Policy via Reward World Model](https://mlsanity.com/paper/2508.06571/) (2025)
- [SpaceDrive: Infusing Spatial Awareness into VLM-based Autonomous Driving](https://mlsanity.com/paper/2512.10719/) (2025)
- [Sce2DriveX: A Generalized MLLM Framework for Scene-to-Drive Learning](https://mlsanity.com/paper/2502.14917/) (2025)
- [Black-Box Adversarial Attack on Vision Language Models for Autonomous Driving](https://mlsanity.com/paper/2501.13563/) (2025)
- [ReasonPlan: Unified Scene Prediction and Decision Reasoning for Closed-loop Autonomous Driving](https://mlsanity.com/paper/2505.20024/) (2025)
- [SOLVE: Synergy of Language-Vision and End-to-End Networks for Autonomous Driving](https://mlsanity.com/paper/2505.16805/) (2025)
- [VLM-E2E: Enhancing End-to-End Autonomous Driving with Multimodal Driver Attention Fusion](https://mlsanity.com/paper/2502.18042/) (2025)
- [VGGDrive: Empowering Vision-Language Models with Cross-View Geometric Grounding for Autonomous Driving](https://mlsanity.com/paper/2602.20794/) (2026)
- [Fine-Grained Evaluation of Large Vision-Language Models in Autonomous Driving](https://mlsanity.com/paper/2503.21505/) (2025)
- [Unleashing VLA Potentials in Autonomous Driving via Explicit Learning from Failures](https://mlsanity.com/paper/2603.01063/) (2026)
- [UniDriveVLA: Unifying Understanding, Perception, and Action Planning for Autonomous Driving](https://mlsanity.com/paper/2604.02190/) (2026)
- [RAD: Retrieval-Augmented Decision-Making of Meta-Actions with Vision-Language Models in Autonomous Driving](https://mlsanity.com/paper/2503.13861/) (2025)
- [DSDrive: Distilling Large Language Model for Lightweight End-to-End Autonomous Driving with Unified Reasoning and Planning](https://mlsanity.com/paper/2505.05360/) (2025)
- [STSBench: A Spatio-temporal Scenario Benchmark for Multi-modal Large Language Models in Autonomous Driving](https://mlsanity.com/paper/2506.06218/) (2025)
- [SpanVLA: Efficient Action Bridging and Learning from Negative-Recovery Samples for Vision-Language-Action Model](https://mlsanity.com/paper/2604.19710/) (2026)

## Abstract (arXiv)

End-to-end autonomous driving demonstrates strong planning capabilities with large-scale data but still struggles in complex, rare scenarios due to limited commonsense. In contrast, Large Vision-Language Models (LVLMs) excel in scene understanding and reasoning. The path forward lies in merging the strengths of both approaches. Previous methods using LVLMs to predict trajectories or control signals yield suboptimal results, as LVLMs are not well-suited for precise numerical predictions. This paper presents Senna, an autonomous driving system combining an LVLM (Senna-VLM) with an end-to-end model (Senna-E2E). Senna decouples high-level planning from low-level trajectory prediction. Senna-VLM generates planning decisions in natural language, while Senna-E2E predicts precise trajectories. Senna-VLM utilizes a multi-image encoding approach and multi-view prompts for efficient scene understanding. Besides, we introduce planning-oriented QAs alongside a three-stage training strategy, which enhances Senna-VLM's planning performance while preserving commonsense. Extensive experiments on two datasets show that Senna achieves state-of-the-art planning performance. Notably, with pre-training on a large-scale dataset DriveX and fine-tuning on nuScenes, Senna significantly reduces average planning error by 27.12% and collision rate by 33.33% over model without pre-training. We believe Senna's cross-scenario generalization and transferability are essential for achieving fully autonomous driving. Code and models will be released at https://github.com/hustvl/Senna.