GatedVLA with Camera-Based Emergency Braking: AlpaSim E2E Closed Loop Challenge Technical Report
Kaneyoshi Hiratsuka, Naoki Takada, Makoto Kawano
Abstract
This report presents GatedVLA, our entry for the Physical AI AV (PAI-AV) track. Our learned vision-language-action (VLA) policy pairs the driving-pretrained Qwen-Drive-1.0-4B vision-language model with a layer-wise flow-matching action expert that outputs a 2.5 s horizon of acceleration and curvature controls, augmented with a soft visual mask applied to the expert's cross-attention. Compared to an identically trained baseline, the masked policy achieves comparable overall open-loop error while reducing error on left turns. In local closed-loop evaluation across the same 150 scenes (two rollouts per scene), the visual mask increases the mean scene score from 0.479 to 0.517 (paired difference +0.038, 95% bootstrap CI [-0.018, +0.093], wins/losses 37/26, sign test p = 0.21). Incorporating a rule-based automatic emergency braking (AEB) module at deployment further increases the mean score to 0.599 (+0.082, CI [+0.023, +0.143]) and reduces the mean number of scenes with at-fault collisions from 34.0 to 11.0.