VeriDrive: Verifiable Counterfactual Supervision for Cost-Efficient Vision-Language Planning
Zikai Zhang, Hubert P. H. Shum, Toby P. Breckon
Abstract
Vision-language driving models increasingly use reasoning supervision to bridge perception, prediction, and planning, but existing driving rationales are often free-form and expensive to generate with frontier models. We present VeriDrive, a framework for constructing planning-oriented, verifiable counterfactual supervision. VeriDrive converts driving reasoning into a structured Perception-Evaluation-Revision chain that grounds key objects in future motion, evaluates alternative ego trajectories with rule-checkable evidence, revises risky intent toward expert behavior, and produces final planning targets. To scale data construction, VeriDrive combines local generation with validator-guided selective correction, escalating only invalid or difficult samples. We build the VeriDrive dataset on nuScenes and train under the Omni-Q protocol. Controlled open-loop experiments show that VeriDrive improves L2, Collision, and Intersection over OmniDrive while reducing logged token usage, generation time, and actual paid LLM/VLM cost. These results show that auditable intermediate fields and structured revision targets can improve vision-language planning supervision under realistic annotation budgets. Code, prompts, and validator scripts are coming soon and will be released after the review process.
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Classified with taxonomy v2 on Sat, 5 Sept 2026.