This repository contains the research code for UniDriveVLA, a unified Vision-Language-Action (VLA) model for autonomous driving. It couples a Qwen3-VL based understanding expert with sparse 3D perception and trajectory planning experts via a Mixture-of-Transformers design. The codebase supports two parallel experiment tracks: nuScenes (real-world open-loop evaluation) and Bench2Drive (CARLA closed-loop simulation). It includes full training pipelines (staged pretraining on driving QA datasets, then fine-tuning on nuScenes/Bench2Drive), evaluation harnesses for detection, motion, planning, and VQA, and a CARLA leaderboard integration for scenario-based testing. The repository is primarily a research artifact—it is not a production application but rather a comprehensive release of model definitions, training scripts, data converters, and evaluation metrics for reproducing the paper's results. Significant code duplication exists between the nuScenes and Bench2Drive directories, and many paths are hardcoded, reducing portability. The code demonstrates strong engineering for research (custom CUDA ops, distributed training with DeepSpeed, modular mmdet3d plugins) but lacks the polish of a reusable library.