# DriveCode: Domain Specific Numerical Encoding for LLM-Based Autonomous Driving

arXiv: https://arxiv.org/abs/2603.00919 · HTML: https://mlsanity.com/paper/2603.00919/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Placed in Large language models for driving, one of 9 directions in End-to-end autonomous driving.
- Builds on 40 of its 51 references that are in the map.
- First posted on arXiv 1 Mar 2026.

## Placed in

- End-to-end autonomous driving / [Large language models for driving](https://mlsanity.com/driving/large-language-models-for-driving/)

## Builds on (most cited first, 30 of 40)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [An Image is Worth 16x16 Words: Transformers for Image Recognition at Scale](https://mlsanity.com/paper/2010.11929/) (2020)
- [Visual Instruction Tuning](https://mlsanity.com/paper/2304.08485/) (2023)
- [Qwen2.5-VL Technical Report](https://mlsanity.com/paper/2502.13923/) (2025)
- [BLIP: Bootstrapping Language-Image Pre-training for Unified Vision-Language Understanding and Generation](https://mlsanity.com/paper/2201.12086/) (2022)
- [Video-LLaVA: Learning United Visual Representation by Alignment Before Projection](https://mlsanity.com/paper/2311.10122/) (2023)
- [Planning-oriented Autonomous Driving](https://mlsanity.com/paper/2212.10156/) (2022)
- [VAD: Vectorized Scene Representation for Efficient Autonomous Driving](https://mlsanity.com/paper/2303.12077/) (2023)
- [TinyLlama: An Open-Source Small Language Model](https://mlsanity.com/paper/2401.02385/) (2024)
- [GLM-4.5: Agentic, Reasoning, and Coding (ARC) Foundation Models](https://mlsanity.com/paper/2508.06471/) (2025)
- [DriveGPT4: Interpretable End-to-end Autonomous Driving via Large Language Model](https://mlsanity.com/paper/2310.01412/) (2023)
- [LMDrive: Closed-Loop End-to-End Driving with Large Language Models](https://mlsanity.com/paper/2312.07488/) (2023)
- [VADv2: End-to-End Vectorized Autonomous Driving via Probabilistic Planning](https://mlsanity.com/paper/2402.13243/) (2024)
- [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)
- [VTimeLLM: Empower LLM to Grasp Video Moments](https://mlsanity.com/paper/2311.18445/) (2023)
- [Bench2Drive: Towards Multi-Ability Benchmarking of Closed-Loop End-To-End Autonomous Driving](https://mlsanity.com/paper/2406.03877/) (2024)
- [LLaVA-Mini: Efficient Image and Video Large Multimodal Models with One Vision Token](https://mlsanity.com/paper/2501.03895/) (2025)
- [SimLingo: Vision-Only Closed-Loop Autonomous Driving with Language-Action Alignment](https://mlsanity.com/paper/2503.09594/) (2025)
- [Teaching Arithmetic to Small Transformers](https://mlsanity.com/paper/2307.03381/) (2023)
- [Recent Advancements in End-to-End Autonomous Driving using Deep Learning: A Survey](https://mlsanity.com/paper/2307.04370/) (2023)
- [Hidden Biases of End-to-End Driving Models](https://mlsanity.com/paper/2306.07957/) (2023)
- [ADAPT: Action-aware Driving Caption Transformer](https://mlsanity.com/paper/2302.00673/) (2023)
- [Positional Description Matters for Transformers Arithmetic](https://mlsanity.com/paper/2311.14737/) (2023)
- [Omni-R1: Do You Really Need Audio to Fine-Tune Your Audio LLM?](https://mlsanity.com/paper/2505.09439/) (2025)
- [LC-LLM: Explainable Lane-Change Intention and Trajectory Predictions with Large Language Models](https://mlsanity.com/paper/2403.18344/) (2024)
- [NumeroLogic: Number Encoding for Enhanced LLMs' Numerical Reasoning](https://mlsanity.com/paper/2404.00459/) (2024)
- [Llama-3.1-FoundationAI-SecurityLLM-Base-8B Technical Report](https://mlsanity.com/paper/2504.21039/) (2025)
- [LLaVA-MORE: A Comparative Study of LLMs and Visual Backbones for Enhanced Visual Instruction Tuning](https://mlsanity.com/paper/2503.15621/) (2025)
- [SafeAuto: Knowledge-Enhanced Safe Autonomous Driving with Multimodal Foundation Models](https://mlsanity.com/paper/2503.00211/) (2025)
- [Language Models Encode the Value of Numbers Linearly](https://mlsanity.com/paper/2401.03735/) (2024)

## Abstract (arXiv)

Large language models (LLMs) have shown great promise for autonomous driving. However, discretizing numbers into tokens limits precise numerical reasoning, fails to reflect the positional significance of digits in the training objective, and makes it difficult to achieve both decoding efficiency and numerical precision. These limitations affect both the processing of sensor measurements and the generation of precise control commands, creating a fundamental barrier for deploying LLM-based autonomous driving systems. In this paper, we introduce DriveCode, a novel numerical encoding method that represents numbers as dedicated embeddings rather than discrete text tokens. DriveCode employs a number projector to map numbers into the language model's hidden space, enabling seamless integration with visual and textual features in a unified multimodal sequence. Evaluated on OmniDrive, DriveGPT4, and DriveGPT4-V2 datasets, DriveCode demonstrates superior performance in trajectory prediction and control signal generation, confirming its effectiveness for LLM-based autonomous driving systems.