# LaViPlan : Language-Guided Visual Path Planning with RLVR

arXiv: https://arxiv.org/abs/2507.12911 · HTML: https://mlsanity.com/paper/2507.12911/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 36 of its 44 references that are in the map.
- First posted on arXiv 17 Jul 2025.

## Builds on (most cited first, 30 of 36)

- [Proximal Policy Optimization Algorithms](https://mlsanity.com/paper/1707.06347/) (2017)
- [Direct Preference Optimization: Your Language Model is Secretly a Reward Model](https://mlsanity.com/paper/2305.18290/) (2023)
- [Visual Instruction Tuning](https://mlsanity.com/paper/2304.08485/) (2023)
- [DeepSeek-R1: Incentivizing Reasoning Capability in LLMs via Reinforcement Learning](https://mlsanity.com/paper/2501.12948/) (2025)
- [BERTScore: Evaluating Text Generation with BERT](https://mlsanity.com/paper/1904.09675/) (2019)
- [InternVL: Scaling up Vision Foundation Models and Aligning for Generic Visual-Linguistic Tasks](https://mlsanity.com/paper/2312.14238/) (2023)
- [Qwen-VL: A Versatile Vision-Language Model for Understanding, Localization, Text Reading, and Beyond](https://mlsanity.com/paper/2308.12966/) (2023)
- [SFT Memorizes, RL Generalizes: A Comparative Study of Foundation Model Post-training](https://mlsanity.com/paper/2501.17161/) (2025)
- [DriveLM: Driving with Graph Visual Question Answering](https://mlsanity.com/paper/2312.14150/) (2023)
- [Visual-RFT: Visual Reinforcement Fine-Tuning](https://mlsanity.com/paper/2503.01785/) (2025)
- [DriveVLM: The Convergence of Autonomous Driving and Large Vision-Language Models](https://mlsanity.com/paper/2402.12289/) (2024)
- [DriveGPT4: Interpretable End-to-end Autonomous Driving via Large Language Model](https://mlsanity.com/paper/2310.01412/) (2023)
- [Aligning Text-to-Image Models using Human Feedback](https://mlsanity.com/paper/2302.12192/) (2023)
- [LMDrive: Closed-Loop End-to-End Driving with Large Language Models](https://mlsanity.com/paper/2312.07488/) (2023)
- [R1-VL: Learning to Reason with Multimodal Large Language Models via Step-wise Group Relative Policy Optimization](https://mlsanity.com/paper/2503.12937/) (2025)
- [Bench2Drive: Towards Multi-Ability Benchmarking of Closed-Loop End-To-End Autonomous Driving](https://mlsanity.com/paper/2406.03877/) (2024)
- [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)
- [Senna: Bridging Large Vision-Language Models and End-to-End Autonomous Driving](https://mlsanity.com/paper/2410.22313/) (2024)
- [SimLingo: Vision-Only Closed-Loop Autonomous Driving with Language-Action Alignment](https://mlsanity.com/paper/2503.09594/) (2025)
- [OmniDrive: A Holistic Vision-Language Dataset for Autonomous Driving with Counterfactual Reasoning](https://mlsanity.com/paper/2504.04348/) (2025)
- [Are VLMs Ready for Autonomous Driving? An Empirical Study from the Reliability, Data, and Metric Perspectives](https://mlsanity.com/paper/2501.04003/) (2025)
- [Reinforcement Learning with Verifiable Rewards: GRPO's Effective Loss, Dynamics, and Success Amplification](https://mlsanity.com/paper/2503.06639/) (2025)
- [AlphaDrive: Unleashing the Power of VLMs in Autonomous Driving via Reinforcement Learning and Reasoning](https://mlsanity.com/paper/2503.07608/) (2025)
- [CODA: A Real-World Road Corner Case Dataset for Object Detection in Autonomous Driving](https://mlsanity.com/paper/2203.07724/) (2022)
- [ADAPT: Action-aware Driving Caption Transformer](https://mlsanity.com/paper/2302.00673/) (2023)
- [Automated Evaluation of Large Vision-Language Models on Self-driving Corner Cases](https://mlsanity.com/paper/2404.10595/) (2024)
- [CarLLaVA: Vision language models for camera-only closed-loop driving](https://mlsanity.com/paper/2406.10165/) (2024)
- [Reinforcement Learning with Sparse Rewards using Guidance from Offline Demonstration](https://mlsanity.com/paper/2202.04628/) (2022)
- [RLVR-World: Training World Models with Reinforcement Learning](https://mlsanity.com/paper/2505.13934/) (2025)

## Built on by (most cited first, 1 of 1)

- [A Survey of Reinforcement Learning for Large Reasoning Models](https://mlsanity.com/paper/2509.08827/) (2025)

## Abstract (arXiv)

Out-of-distribution (OOD) scenarios in autonomous driving pose critical challenges, as planners often fail to generalize beyond their training experience, leading to unsafe or unexpected behavior. Vision-Language Models (VLMs) have shown promise in handling such scenarios by providing high-level scene understanding and user-aligned decisions. However, existing VLMs often exhibit a misalignment between their language-based reasoning and the low-level trajectories required for action-level planning. In this paper, we propose LaViPlan, a framework that leverages Reinforcement Learning with Verifiable Rewards (RLVR) to fine-tune VLMs using planning-oriented metrics. Experimental results show that LaViPlan improves planning performance across both in-domain and out-of-domain datasets. While linguistic fidelity slightly decreases after RLVR-based fine-tuning, qualitative evaluation indicates that the outputs remain coherent. We also conduct ablation studies to analyze the effects of sampling ratio and reasoning guidance, highlighting how these design choices influence performance. These findings demonstrate the potential of RLVR as a post-training paradigm for aligning language-guided reasoning with action-level planning in autonomous driving.