HMVLM: Multistage Reasoning-Enhanced Vision-Language Model for Long-Tailed Driving Scenarios

• URL: http://arxiv.org/abs/2506.05883v1
• Date: Fri, 06 Jun 2025 08:51:06 GMT
• Title: HMVLM: Multistage Reasoning-Enhanced Vision-Language Model for Long-Tailed Driving Scenarios
• Authors: Daming Wang, Yuhao Song, Zijian He, Kangliang Chen, Xing Pan, Lu Deng, Weihao Gu,
• Abstract summary: We present HaoMo Vision-Language Model (HMVLM), an end-to-end driving framework that implements the slow branch of a cognitively inspired fast-slow architecture.<n>A fast controller outputs low-level steering, throttle, and brake commands, while a slow planner-a large vision-language model-generates high-level intents such as "yield to pedestrian" or "merge after the truck" without compromising latency.
• Score: 3.4075144411363034
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: We present HaoMo Vision-Language Model (HMVLM), an end-to-end driving framework that implements the slow branch of a cognitively inspired fast-slow architecture. A fast controller outputs low-level steering, throttle, and brake commands, while a slow planner-a large vision-language model-generates high-level intents such as "yield to pedestrian" or "merge after the truck" without compromising latency. HMVLM introduces three upgrades: (1) selective five-view prompting with an embedded 4s history of ego kinematics, (2) multi-stage chain-of-thought (CoT) prompting that enforces a Scene Understanding -> Driving Decision -> Trajectory Inference reasoning flow, and (3) spline-based trajectory post-processing that removes late-stage jitter and sharp turns. Trained on the Waymo Open Dataset, these upgrades enable HMVLM to achieve a Rater Feedback Score (RFS) of 7.7367, securing 2nd place in the 2025 Waymo Vision-based End-to-End (E2E) Driving Challenge and surpassing the public baseline by 2.77%.

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