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原文摘要

Autoregressive VLA planning usually predicts continuous trajectories as the final output, but driving instructions often describe actions rather than ego states, which weakens direct conditioning on the final continuous trajectory. We address this gap with TrajCond, which introduces a discrete trajectory-geometric condition for VLA planning. Specifically, we represent TrajCond as a 1D-Brohan differential action trajectory and learn it with a two-stage training framework before final continuous trajectory prediction. With the simultaneous autoregressive generation of discrete and numeric trajectories, we name our method AutoVLA-D (Double). Experiments on NAVSIM navtest, nuScenes, and NeuroNCAP show that discrete trajectories are weaker as direct outputs but more effective as TrajCond, consistently improving final continuous trajectory prediction across closed-loop and open-loop driving benchmarks. Code is available at https://github.com/ShivaTeam/AutoVLA-D.