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PlanAgent: A Multi-modal Large Language Agent for Closed-loop Vehicle Motion Planning
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PlanAgent: A Multi-modal Large Language Agent for Closed-loop Vehicle Motion Planning
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Vehicle motion planning is an essential component of autonomous driving technology. Current rule-based vehicle motion planning methods perform satisfactorily in common scenarios but struggle to generalize to long-tailed situations. Meanwhile, learning-based methods have yet to achieve superior performance over rule-based approaches in large-scale closed-loop scenarios. To address these issues, we propose PlanAgent, the first mid-to-mid planning system based on a Multi-modal Large Language Model (MLLM). MLLM is used as a cognitive agent to introduce human-like knowledge, interpretability, and common-sense reasoning into the closed-loop planning. Specifically, PlanAgent leverages the power of MLLM through three core modules. First, an Environment Transformation module constructs a Bird's Eye View (BEV) map and a lane-graph-based textual description from the environment as inputs. Second, a Reasoning Engine module introduces a hierarchical chain-of-thought from scene understanding to lateral and longitudinal motion instructions, culminating in planner code generation. Last, a Reflection module is integrated to simulate and evaluate the generated planner for reducing MLLM's uncertainty. PlanAgent is endowed with the common-sense reasoning and generalization capability of MLLM, which empowers it to effectively tackle both common and complex long-tailed scenarios. Our proposed PlanAgent is evaluated on the large-scale and challenging nuPlan benchmarks. A comprehensive set of experiments convincingly demonstrates that PlanAgent outperforms the existing state-of-the-art in the closed-loop motion planning task. Codes will be soon released.
Forward citations
Cited by 12 Pith papers
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MapTab: A Diagnostic Benchmark for Long-Horizon Multi-Criteria Multimodal Reasoning on Heterogeneous Topological Graphs
MapTab is a new multimodal benchmark with 328 images and nearly 200k queries that shows current MLLMs have substantial difficulty with multi-criteria route planning when visual and tabular information must be combined.
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MapTab: A Diagnostic Benchmark for Long-Horizon Multi-Criteria Multimodal Reasoning on Heterogeneous Topological Graphs
MapTab introduces a 328-map, 196,800-query benchmark showing that current multimodal LLMs fall far short on multi-criteria route planning from maps-plus-tables.
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MapTab: A Diagnostic Benchmark for Long-Horizon Multi-Criteria Multimodal Reasoning on Heterogeneous Topological Graphs
MapTab benchmark shows current MLLMs struggle with multi-criteria multimodal route planning and that combining vision and language frequently underperforms single-modality approaches.
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LiloDriver: A Lifelong Learning Framework for Closed-loop Motion Planning in Long-tail Autonomous Driving Scenarios
LiloDriver uses LLMs and memory-augmented planning in a four-stage pipeline to outperform rule-based and learning-based methods on both common and rare scenarios in the nuPlan benchmark.
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Agent-driven Long-tail Simulation for Autonomous Driving
LLM agents with structured actions can drive interactive long-tail road users in nuPlan, and SemanticPlan shows current planners still fail safety and semantic completion there.
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ASSCG: Just-Right Gating over Chattering for Fast-Slow LLM Planning in Autonomous Driving
ASSCG is an RWKV-based adaptive gate trained with SFT and GRPO-style RL that makes Query/Cache/Drop decisions for slow LLM guidance in fast-slow autonomous driving planners, improving scores and cutting latency on nuP...
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Decision-Making with Lightweight Confidence-Aware Language Model for Autonomous Driving
Lightweight confidence-aware LM distilled from multi-agent CoT demonstrations achieves SOTA success rates on nuPlan benchmark for AD decision-making with low inference latency.
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ConsistencyPlanner: Real-time Planning with Fast-Sampling Consistency Models
ConsistencyPlanner applies fast-sampling consistency models for efficient multimodal trajectory generation and attention-based heterogeneous feature fusion to achieve superior safety in Waymax driving simulations.
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LUNA-AD: Lightweight Uncertainty-Aware Language Model with Lifelong Learning for Autonomous Driving
LUNA-AD introduces a tri-system model with multi-agent hypothesis exploration, distilled lightweight inference, and reflection-driven lifelong learning that claims state-of-the-art success rates on nuPlan benchmarks w...
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SARAD: LLM-Based Safety-Aware Hybrid Reinforcement Learning with Collision Prediction for Autonomous Driving
SARAD is a hybrid LLM-DRL framework for autonomous driving that replaces random exploration with RAG-enhanced LLM guidance, an attention discriminator, and a collision predictor, reporting performance gains in the Hig...
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Agentic Reasoning for Large Language Models
The survey structures agentic reasoning for LLMs into foundational, self-evolving, and collective multi-agent layers while distinguishing in-context orchestration from post-training optimization and reviewing applicat...
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A Review of Learning-Based Motion Planning: Toward a Data-Driven Optimal Control Approach
A position/review paper argues data-driven model predictive control is the best route to safe, adaptive, human-like autonomous-driving motion planning, but provides no new derivation or experiment.
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