Lu, C., Meng, X., Wu, Y., Huang, R., Li, H., Chen, T., Zhou, K., & Shao, Y. (2026). Planning in the Backbone: DiffAdapterVLA for Native Continuous Trajectory Generation with Driving VLMs. https://omanscience.com/ar/articles/planning-in-the-backbone-diffadaptervla-for-native-continuous-trajectory-generation-with-driving-vlms