@article{lagrangeanopenvocabularyenergybasedspars,
  title = {Lagrange: An Open-Vocabulary, Energy-Based Sparse Framework for Generalized End-to-End Driving},
  author = {Shihao Ji and HongXi Li and Zihui Song and Mingyu Li},
  year = {2026},
  eprint = {2606.20274},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2606.20274},
}