CoReVLA: A Dual-Stage End-to-End Autonomous Driving Framework for Long-Tail Scenarios via Collect-and-Refine

Autonomous Driving (AD) systems have made notable progress, but their performance in long-tail, safety-critical scenarios remains limited. These rare cases contribute a disproportionate number of accidents. Vision-Language Action (VLA) models have strong reasoning abilities and offer a potential solution, but their effectiveness is limited by the lack of high-quality data and inefficient learning in such conditions. To address these challenges, we propose CoReVLA, a continual learning end-to-end autonomous driving framework that improves the performance in long-tail scenarios through a dual-stage process of data Collection and behavior Refinement. First, the model is jointly fine-tuned on a mixture of open-source driving QA datasets, allowing it to acquire a foundational understanding of driving scenarios. Next, CoReVLA is deployed within the Cave Automatic Virtual Environment (CAVE) simulation platform, where driver takeover data is collected from real-time interactions. Each takeover indicates a long-tail scenario that CoReVLA fails to handle reliably. Finally, the model is refined via Direct Preference Optimization (DPO), allowing it to learn directly from human preferences and thereby avoid reward hacking caused by manually designed rewards. Extensive open-loop and closed-loop experiments demonstrate that the proposed CoReVLA model can accurately perceive driving scenarios and make appropriate decisions. On the Bench2Drive benchmark, CoReVLA achieves a Driving Score (DS) of 72.18 and a Success Rate (SR) of 50%, outperforming state-of-the-art methods by 7.96 DS and 15% SR under long-tail, safety-critical scenarios. Furthermore, case studies demonstrate the model's ability to continually improve its performance in similar failure-prone scenarios by leveraging past takeover experiences. All codea and preprocessed datasets are available at: https://github.com/FanGShiYuu/CoReVLA

ErrorEraser: Unlearning Data Bias for Improved Continual Learning

Continual Learning (CL) primarily aims to retain knowledge to prevent catastrophic forgetting and transfer knowledge to facilitate learning new tasks. Unlike traditional methods, we propose a novel perspective: CL not only needs to prevent forgetting, but also requires intentional forgetting.This arises from existing CL methods ignoring biases in real-world data, leading the model to learn spurious correlations that transfer and amplify across tasks. From feature extraction and prediction results, we find that data biases simultaneously reduce CL's ability to retain and transfer knowledge. To address this, we propose ErrorEraser, a universal plugin that removes erroneous memories caused by biases in CL, enhancing performance in both new and old tasks. ErrorEraser consists of two modules: Error Identification and Error Erasure. The former learns the probability density distribution of task data in the feature space without prior knowledge, enabling accurate identification of potentially biased samples. The latter ensures only erroneous knowledge is erased by shifting the decision space of representative outlier samples. Additionally, an incremental feature distribution learning strategy is designed to reduce the resource overhead during error identification in downstream tasks. Extensive experimental results show that ErrorEraser significantly mitigates the negative impact of data biases, achieving higher accuracy and lower forgetting rates across three types of CL methods. The code is available at https://github.com/diadai/ErrorEraser.