DriveMoE: Mixture-of-Experts for Vision-Language-Action Model in End-to-End Autonomous Driving

Project Page, Paper, Hugging Face

Getting started

• Download and installation
• Data preprocessing
• Training the models
• Open-loop and Closed-loop Evaluation on Bench2Drive

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Acknowledgments

This project has been developed based on the following pioneering works on GitHub repositories. We express our profound gratitude for these foundational resources:

• https://github.com/allenzren/open-pi-zero
• https://github.com/Physical-Intelligence/openpi

Citation

@misc{yang2025drivemoe,
      title={DriveMoE: Mixture-of-Experts for Vision-Language-Action Model in End-to-End Autonomous Driving}, 
      author={Zhenjie Yang and Yilin Chai and Xiaosong Jia and Qifeng Li and Yuqian Shao and Xuekai Zhu and Haisheng Su and Junchi Yan},
      year={2025},
      eprint={2505.16278},
      archivePrefix={arXiv},
      primaryClass={cs.CV},
}