LeGo-Drive: A Language-Enhanced, Goal-Oriented, and Closed-Loop End-to-End Autonomous Driving System

LeGo-Drive is a framework that addresses the feasibility of coarse estimation of control actions from Vision-Language Assistants (VLAs) by treating it as a short-term goal-reaching problem. This is achieved through the learning of trajectory optimizer parameters together with behavioral inputs by generating and improving a feasible goal aligned with the navigation instruction.