arxivcs.CVcs.AI2026-06-29
LWDrive: Layer-Wise World-Model-Guided Vision-Language Model Planning for Autonomous Driving
Chen Yang, Yuhao Wei, Ze Xu, Ziheng Zou, Shuang Liang, Delin Ouyang, et al.
Vision-Language Models (VLMs) provide powerful semantic understanding and commonsense reasoning for End-to-End Autonomous Driving (E2E-AD) planning. However, trajectories directly generated by VLMs often encode only coarse driving intentions and remain insufficient for geometrica…