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PRIME: Perception Feedback with Situational Memory Embeddings in VLA Models

arXiv · AI, language, vision and robotics · article · Sep 18, 2026 · UTC

Current Vision-Language-Action (VLA) models for autonomous driving operate primarily through feedforward inference across the perception--reasoning--planning hierarchy. While modern architectures maintain temporal recurrence within the perceptual module, early perception remains blind to downstream reasoning and navigation goals, processing visual inputs agnostically without prioritizing cues informed by prior decisions. To bridge this gap, this paper introduces PRIME, a learned feedback mechanism that conditions the VLA perceptual queries on a novel Situational Memory. By aggregating latent r

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