Efficient trajectory planning in off-road terrains presents a formidable challenge for autonomous vehicles, often necessitating complex multi-step pipelines. However, traditional approaches exhibit limited adaptability in dynamic environments. To address these limitations, this paper proposes OFF-EMMA, a novel end-to-end multimodal framework designed to overcome the deficiencies of insufficient spatial perception and unstable reasoning in visual-language-action (VLA) models for off-road autonomous driving scenarios. The framework explicitly annotates input images through the design of a visual prompt block and introduces a chain-of-thought with self-consistency (COT-SC) reasoning strategy to enhance the accuracy and robustness of trajectory planning. The visual prompt block utilizes semantic segmentation masks as visual prompts, enhancing the spatial understanding ability of pre-trained visual-language models for complex terrains. The COT- SC strategy effectively mitigates the error impact of outliers on planning performance through a multi-path reasoning mechanism. Experimental results on the RELLIS-3D off-road dataset demonstrate that OFF-EMMA significantly outperforms existing methods, reducing the average L2 error of the Qwen backbone model by 13.3% and decreasing the failure rate from 16.52% to 6.56%.
@article{arxiv.2601.03519,
title = {A Vision-Language-Action Model with Visual Prompt for OFF-Road Autonomous Driving},
author = {Liangdong Zhang and Yiming Nie and Haoyang Li and Fanjie Kong and Baobao Zhang and Shunxin Huang and Kai Fu and Chen Min and Liang Xiao},
journal= {arXiv preprint arXiv:2601.03519},
year = {2026}
}