# LLM-Assist: Enhancing Closed-Loop Planning with Language-Based Reasoning

arXiv: https://arxiv.org/abs/2401.00125 · HTML: https://mlsanity.com/paper/2401.00125/

## Key facts

- Cited by 59 papers in the map (data through 14 Oct 2026).
- Placed in Chain-of-thought reasoning for driving, one of 17 directions in LLM reasoning.
- Builds on 29 of its 37 references that are in the map.
- First posted on arXiv 30 Dec 2023.

## Placed in

- LLM reasoning / [Chain-of-thought reasoning for driving](https://mlsanity.com/lr/chain-of-thought-reasoning-for-driving/)

## Builds on (most cited first, 29 of 29)

- [Language Models are Few-Shot Learners](https://mlsanity.com/paper/2005.14165/) (2020)
- [GPT-4 Technical Report](https://mlsanity.com/paper/2303.08774/) (2023)
- [Training language models to follow instructions with human feedback](https://mlsanity.com/paper/2203.02155/) (2022)
- [LLaMA: Open and Efficient Foundation Language Models](https://mlsanity.com/paper/2302.13971/) (2023)
- [Llama 2: Open Foundation and Fine-Tuned Chat Models](https://mlsanity.com/paper/2307.09288/) (2023)
- [Chain-of-Thought Prompting Elicits Reasoning in Large Language Models](https://mlsanity.com/paper/2201.11903/) (2022)
- [ReAct: Synergizing Reasoning and Acting in Language Models](https://mlsanity.com/paper/2210.03629/) (2022)
- [RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control](https://mlsanity.com/paper/2307.15818/) (2023)
- [Do As I Can, Not As I Say: Grounding Language in Robotic Affordances](https://mlsanity.com/paper/2204.01691/) (2022)
- [Voyager: An Open-Ended Embodied Agent with Large Language Models](https://mlsanity.com/paper/2305.16291/) (2023)
- [Planning-oriented Autonomous Driving](https://mlsanity.com/paper/2212.10156/) (2022)
- [Inner Monologue: Embodied Reasoning through Planning with Language Models](https://mlsanity.com/paper/2207.05608/) (2022)
- [NuPlan: A closed-loop ML-based planning benchmark for autonomous vehicles](https://mlsanity.com/paper/2106.11810/) (2021)
- [LLM-Planner: Few-Shot Grounded Planning for Embodied Agents with Large Language Models](https://mlsanity.com/paper/2212.04088/) (2022)
- [ST-P3: End-to-end Vision-based Autonomous Driving via Spatial-Temporal Feature Learning](https://mlsanity.com/paper/2207.07601/) (2022)
- [End-to-end Interpretable Neural Motion Planner](https://mlsanity.com/paper/2101.06679/) (2021)
- [Parting with Misconceptions about Learning-based Vehicle Motion Planning](https://mlsanity.com/paper/2306.07962/) (2023)
- [DeepDriving: Learning Affordance for Direct Perception in Autonomous Driving](https://mlsanity.com/paper/1505.00256/) (2015)
- [Sources of Hallucination by Large Language Models on Inference Tasks](https://mlsanity.com/paper/2305.14552/) (2023)
- [Perceive, Predict, and Plan: Safe Motion Planning Through Interpretable Semantic Representations](https://mlsanity.com/paper/2008.05930/) (2020)
- [GameFormer: Game-theoretic Modeling and Learning of Transformer-based Interactive Prediction and Planning for Autonomous Driving](https://mlsanity.com/paper/2303.05760/) (2023)
- [Self-contradictory Hallucinations of Large Language Models: Evaluation, Detection and Mitigation](https://mlsanity.com/paper/2305.15852/) (2023)
- [Baidu Apollo EM Motion Planner](https://mlsanity.com/paper/1807.08048/) (2018)
- [LookOut: Diverse Multi-Future Prediction and Planning for Self-Driving](https://mlsanity.com/paper/2101.06547/) (2021)
- [Improving Language Models via Plug-and-Play Retrieval Feedback](https://mlsanity.com/paper/2305.14002/) (2023)
- [Perceive, Attend, and Drive: Learning Spatial Attention for Safe Self-Driving](https://mlsanity.com/paper/2011.01153/) (2020)
- [Tree-structured Policy Planning with Learned Behavior Models](https://mlsanity.com/paper/2301.11902/) (2023)
- [Contingencies from Observations: Tractable Contingency Planning with Learned Behavior Models](https://mlsanity.com/paper/2104.10558/) (2021)
- [MBAPPE: MCTS-Built-Around Prediction for Planning Explicitly](https://mlsanity.com/paper/2309.08452/) (2023)

## Built on by (most cited first, 30 of 59)

- [RAG-Driver: Generalisable Driving Explanations with Retrieval-Augmented In-Context Learning in Multi-Modal Large Language Model](https://mlsanity.com/paper/2402.10828/) (2024)
- [What's Wrong with Your Code Generated by Large Language Models? An Extensive Study](https://mlsanity.com/paper/2407.06153/) (2024)
- [Doe-1: Closed-Loop Autonomous Driving with Large World Model](https://mlsanity.com/paper/2412.09627/) (2024)
- [PlanAgent: A Multi-modal Large Language Agent for Closed-loop Vehicle Motion Planning](https://mlsanity.com/paper/2406.01587/) (2024)
- [Asynchronous Large Language Model Enhanced Planner for Autonomous Driving](https://mlsanity.com/paper/2406.14556/) (2024)
- [Agents Thinking Fast and Slow: A Talker-Reasoner Architecture](https://mlsanity.com/paper/2410.08328/) (2024)
- [Safety Guardrails for LLM-Enabled Robots](https://mlsanity.com/paper/2503.07885/) (2025)
- [LimSim++: A Closed-Loop Platform for Deploying Multimodal LLMs in Autonomous Driving](https://mlsanity.com/paper/2402.01246/) (2024)
- [LLM-Assisted Light: Leveraging Large Language Model Capabilities for Human-Mimetic Traffic Signal Control in Complex Urban Environments](https://mlsanity.com/paper/2403.08337/) (2024)
- [Can We Trust Embodied Agents? Exploring Backdoor Attacks against Embodied LLM-based Decision-Making Systems](https://mlsanity.com/paper/2405.20774/) (2024)
- [VLM-Auto: VLM-based Autonomous Driving Assistant with Human-like Behavior and Understanding for Complex Road Scenes](https://mlsanity.com/paper/2405.05885/) (2024)
- [Integrating LLMs with ITS: Recent Advances, Potentials, Challenges, and Future Directions](https://mlsanity.com/paper/2501.04437/) (2025)
- [VLM-MPC: Vision Language Foundation Model (VLM)-Guided Model Predictive Controller (MPC) for Autonomous Driving](https://mlsanity.com/paper/2408.04821/) (2024)
- [LLM-based Conversational AI Therapist for Daily Functioning Screening and Psychotherapeutic Intervention via Everyday Smart Devices](https://mlsanity.com/paper/2403.10779/) (2024)
- [LightVA: Lightweight Visual Analytics with LLM Agent-Based Task Planning and Execution](https://mlsanity.com/paper/2411.05651/) (2024)
- [SPINE: Online Semantic Planning for Missions with Incomplete Natural Language Specifications in Unstructured Environments](https://mlsanity.com/paper/2410.03035/) (2024)
- [A Survey on Human-Centric LLMs](https://mlsanity.com/paper/2411.14491/) (2024)
- [Instruct Large Language Models to Drive like Humans](https://mlsanity.com/paper/2406.07296/) (2024)
- [Planning with Adaptive World Models for Autonomous Driving](https://mlsanity.com/paper/2406.10714/) (2024)
- [Air-Ground Collaboration for Language-Specified Missions in Unknown Environments](https://mlsanity.com/paper/2505.09108/) (2025)
- [Towards Collaborative Intelligence: Propagating Intentions and Reasoning for Multi-Agent Coordination with Large Language Models](https://mlsanity.com/paper/2407.12532/) (2024)
- [Distilling On-device Language Models for Robot Planning with Minimal Human Intervention](https://mlsanity.com/paper/2506.17486/) (2025)
- [Safety of Embodied Navigation: A Survey](https://mlsanity.com/paper/2508.05855/) (2025)
- [A Roadmap to Guide the Integration of LLMs in Hierarchical Planning](https://mlsanity.com/paper/2501.08068/) (2025)
- [V3LMA: Visual 3D-enhanced Language Model for Autonomous Driving](https://mlsanity.com/paper/2505.00156/) (2025)
- [LiloDriver: A Lifelong Learning Framework for Closed-loop Motion Planning in Long-tail Autonomous Driving Scenarios](https://mlsanity.com/paper/2505.17209/) (2025)
- [Enhancing LLM-based Autonomous Driving Agents to Mitigate Perception Attacks](https://mlsanity.com/paper/2409.14488/) (2024)
- [Jailbreaking LLM-Controlled Robots](https://mlsanity.com/paper/2410.13691/) (2024)
- [Toward Super Agent System with Hybrid AI Routers](https://mlsanity.com/paper/2504.10519/) (2025)
- [VLMPlanner: Integrating Visual Language Models with Motion Planning](https://mlsanity.com/paper/2507.20342/) (2025)

## Abstract (arXiv)

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.