Planning refers to the process of determining a sequence of actions or maneuvers that an autonomous vehicle should undertake to navigate through its environment safely and efficiently. In the field of autonomous driving, planning is a critical aspect of the overall system, and it involves making decisions in real-time based on the vehicle’s perception of its surroundings.

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RunAgent: Interpreting Natural-Language Plans with Constraint-Guided Execution (IEEE)

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Humans solve problems by executing targeted plans, yet large language models (LLMs) remain unreliable for structured workflow execution. We propose RunAgent, a multiagent plan execution platform that interprets natural-language plans while enforcing stepwise execution through constraints and rubrics. RunAgent bridges the expressiveness of natural language and the determinism of programming languages via an agentic language with explicit control constructs (e.g., IF, GOTO, FORALL). It autonomously derives and verifies constraints at each step; dynamically selects among LLM reasoning, tool use, and Python execution; and integrates error correction to ensure correctness. Evaluations on Natural-plan and SciBench Datasets demonstrate that RunAgent outperforms baseline LLMs and state-of-the-art PlanGEN methods.

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LLM-ASSIST: Enhancing Closed-Loop Planning with Language-Based Reasoning

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Although planning is a crucial component of the autonomous driving stack, researchers have yet to develop robust planning algorithms that are capable of safely handling the diverse range of possible driving scenarios. Learning-based planners suffer from overfitting and poor long-tail performance. On the other hand, rule-based planners generalize well, but might fail to handle scenarios that require complex driving maneuvers. To address these limitations, we investigate the possibility of leveraging the common-sense reasoning capabilities of Large Language Models (LLMs) such as GPT4 and Llama2 to generate plans for self-driving vehicles. In particular, we develop a novel hybrid planner that leverages a conventional rule-based planner in conjunction with an LLM-based planner. Guided by commonsense reasoning abilities of LLMs, our approach navigates complex scenarios which existing planners struggle with, produces well-reasoned outputs while also remaining grounded through working alongside the rule-based approach. Through extensive evaluation on the nuPlan benchmark, we achieve state-of-the-art performance, outperforming all existing pure learning- and rule-based methods across most metrics. Our code will be available at https://llmassist.github.io/

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