MindDrive: An All-in-One Framework Bridging World Models and Vision-Language Model for End-to-End Autonomous Driving

Bin Sun; Yaoguang Cao; Yan Wang; Rui Wang; Jiachen Shang; Xiejie Feng; Jiayi Lu; Jia Shi; Shichun Yang; Xiaoyu Yan; Ziying Song

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arXiv · 2512.04441

MindDrive: An All-in-One Framework Bridging World Models and Vision-Language Model for End-to-End Autonomous Driving

Bin Sun·Yaoguang Cao·Yan Wang·Rui Wang·Jiachen Shang·Xiejie Feng·Jiayi Lu·Jia Shi·Shichun Yang·Xiaoyu Yan·Ziying Song

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Abstract

End-to-End autonomous driving (E2E-AD) has emerged as a new paradigm, where trajectory planning plays a crucial role. Existing studies mainly follow two directions: trajectory generation oriented, which focuses on producing high-quality trajectories with simple decision mechanisms, and trajectory selection oriented, which performs multi-dimensional evaluation to select the best trajectory yet lacks sufficient generative capability. In this work, we propose MindDrive, a harmonized framework that integrates high-quality trajectory generation with comprehensive decision reasoning. It establishes a structured reasoning paradigm of "context simulation - candidate generation - multi-objective trade-off". In particular, the proposed Future-aware Trajectory Generator (FaTG), based on a World Action Model (WaM), performs ego-conditioned "what-if" simulations to predict potential future scenes and generate foresighted trajectory candidates. Building upon this, the VLM-oriented Evaluator (VLoE) leverages the reasoning capability of a large vision-language model to conduct multi-objective evaluations across safety, comfort, and efficiency dimensions, leading to reasoned and human-aligned decision making. Extensive experiments on the NAVSIM-v1 and NAVSIM-v2 benchmarks demonstrate that MindDrive achieves state-of-the-art performance across multi-dimensional driving metrics, significantly enhancing safety, compliance, and generalization. This work provides a promising path toward interpretable and cognitively guided autonomous driving.

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Bin Sun, Yaoguang Cao, Yan Wang, Rui Wang, Jiachen Shang, Xiejie Feng, Jiayi Lu, Jia Shi, Shichun Yang, Xiaoyu Yan, Ziying Song. 2025-12-08. MindDrive: An All-in-One Framework Bridging World Models and Vision-Language Model for End-to-End Autonomous Driving. https://arxiv.org/abs/2512.04441

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