I will disagree with KK on the reasoning, though his final answer is correct.
Contract labor laws and liability for PF and ESIC
Under contract labor laws, there is no distinction between a contract for labor supply and a contract for services. Even if someone is offering you a lump sum or a piece-rate contract, you are still liable to pay the PF and ESIC (or ensure it is paid by the contractor).
Exemption for vehicle drivers
The only reason it does not apply to the driver of the vehicle is that he is not working on your premises. He is working outside. His presence on your premises is only incidental to the main activity.
The matter would be different if he was dedicated to your company, doing exclusively your work and on your premises for most of the workday on a regular basis. In such a case, you may be liable (depends on the circumstances).