# SAMoE-VLA: A Scene Adaptive Mixture-of-Experts Vision-Language-Action Model for Autonomous Driving

arXiv: https://arxiv.org/abs/2603.08113 · HTML: https://mlsanity.com/paper/2603.08113/

## Key facts

- Cited by 4 papers in the map (data through 14 Oct 2026).
- Placed in Chain-of-thought reasoning for driving, one of 17 directions in LLM reasoning.
- Builds on 25 of its 55 references that are in the map.
- First posted on arXiv 9 Mar 2026.

## Placed in

- LLM reasoning / [Chain-of-thought reasoning for driving](https://mlsanity.com/lr/chain-of-thought-reasoning-for-driving/)
- Vision-language-action models / [VLA for autonomous driving](https://mlsanity.com/vla/vla-for-autonomous-driving/)
- End-to-end autonomous driving / [Reasoning VLA and VLM driving policies](https://mlsanity.com/driving/reasoning-vla-and-vlm-driving-policies/)
- Mixture-of-experts / [MoE in reinforcement learning and robotics](https://mlsanity.com/moe/moe-in-reinforcement-learning-and-robotics/)

## Builds on (most cited first, 25 of 25)

- [LLaMA: Open and Efficient Foundation Language Models](https://mlsanity.com/paper/2302.13971/) (2023)
- [DeepSeek-R1: Incentivizing Reasoning Capability in LLMs via Reinforcement Learning](https://mlsanity.com/paper/2501.12948/) (2025)
- [Outrageously Large Neural Networks: The Sparsely-Gated Mixture-of-Experts Layer](https://mlsanity.com/paper/1701.06538/) (2017)
- [Qwen Technical Report](https://mlsanity.com/paper/2309.16609/) (2023)
- [OpenVLA: An Open-Source Vision-Language-Action Model](https://mlsanity.com/paper/2406.09246/) (2024)
- [π0.5: a Vision-Language-Action Model with Open-World Generalization](https://mlsanity.com/paper/2504.16054/) (2025)
- [GShard: Scaling Giant Models with Conditional Computation and Automatic Sharding](https://mlsanity.com/paper/2006.16668/) (2020)
- [ST-MoE: Designing Stable and Transferable Sparse Expert Models](https://mlsanity.com/paper/2202.08906/) (2022)
- [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)
- [From Sparse to Soft Mixtures of Experts](https://mlsanity.com/paper/2308.00951/) (2023)
- [EMMA: End-to-End Multimodal Model for Autonomous Driving](https://mlsanity.com/paper/2410.23262/) (2024)
- [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)
- [Senna: Bridging Large Vision-Language Models and End-to-End Autonomous Driving](https://mlsanity.com/paper/2410.22313/) (2024)
- [Soft Merging of Experts with Adaptive Routing](https://mlsanity.com/paper/2306.03745/) (2023)
- [DriveMoE: Mixture-of-Experts for Vision-Language-Action Model in End-to-End Autonomous Driving](https://mlsanity.com/paper/2505.16278/) (2025)
- [HERMES: A Unified Self-Driving World Model for Simultaneous 3D Scene Understanding and Generation](https://mlsanity.com/paper/2501.14729/) (2025)
- [Drive-R1: Bridging Reasoning and Planning in VLMs for Autonomous Driving with Reinforcement Learning](https://mlsanity.com/paper/2506.18234/) (2025)
- [Lory: Fully Differentiable Mixture-of-Experts for Autoregressive Language Model Pre-training](https://mlsanity.com/paper/2405.03133/) (2024)
- [Semi-Supervised Vision-Centric 3D Occupancy World Model for Autonomous Driving](https://mlsanity.com/paper/2502.07309/) (2025)
- [Lost in Embeddings: Information Loss in Vision-Language Models](https://mlsanity.com/paper/2509.11986/) (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)
- [AD-H: Language-guided Autonomous Driving with Hierarchical Agents](https://mlsanity.com/paper/2406.03474/) (2024)
- [MoSE: Skill-by-Skill Mixture-of-Experts Learning for Embodied Autonomous Machines](https://mlsanity.com/paper/2507.07818/) (2025)

## Built on by (most cited first, 4 of 4)

- [From Foundation to Application: Improving VLA Models in Practice](https://mlsanity.com/paper/2607.06403/) (2026)
- [Driving Intents Amplify Planning-Oriented Reinforcement Learning](https://mlsanity.com/paper/2605.12625/) (2026)
- [BLUE: Toward Better Language Use in Efficient Vision-Language-Action Models for Autonomous Driving](https://mlsanity.com/paper/2606.08684/) (2026)
- [PrismAD: Decoupled Planning via Semantic Mixture-of-Planners for End-to-End Autonomous Driving](https://mlsanity.com/paper/2607.10336/) (2026)

## Abstract (arXiv)

Recent advances in Vision-Language-Action (VLA) models have shown promising capabilities in autonomous driving by leveraging the understanding and reasoning strengths of Large Language Models(LLMs).However, our empirical analysis reveals that directly applying existing token-level MoE mechanisms--which are inherited from LLM architectures--to VLA models results in unstable performance and safety degradation in autonomous driving, highlighting a misalignment between token-based expert specialization and scene-level decision-making.To address this, we propose SAMoE-VLA, a scene-adaptive Vision-Language-Action framework that conditions expert selection on structured scene representations instead of token embeddings. Our key idea is to derive the MoE routing signal from bird's-eye-view (BEV) features that encapsulates traffic scene context, enabling scenario-dependent expert weighting and merging tailored to distinct driving conditions. Furthermore, to support temporally consistent reasoning across world-knowledge, perception, language, and action, we introduce a Conditional Cross-Modal Causal Attention mechanism that integrates world state, linguistic intent, and action history into a unified causal reasoning process. Extensive experiments on the nuScenes open loop planning dataset and LangAuto closed-loop benchmark demonstrate that SAMoE-VLA achieves state-of-the-art performance, outperforming prior VLA-based and world-model-based approaches with fewer parameters.Our code will be released soon.