Data-Efficient Adaptation of a Driving VLA to Class 8 Trucks
The strategy adapts a general driving model for Class 8 trucks by freezing its vision-language part and fine-tuning only the action generation stack using specific truck scenarios like construction zones. This 'Targeted Truck-SFT' significantly reduces trajectory errors. A second step, Flow Velocity Steering (FVS), refines these predictions further to achieve high accuracy efficiently.