# Human-like Semantic Navigation for Autonomous Driving using Knowledge Representation and Large Language Models

arXiv: https://arxiv.org/abs/2505.16498 · HTML: https://mlsanity.com/paper/2505.16498/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Placed in Large language models for driving, one of 9 directions in End-to-end autonomous driving.
- Builds on 5 of its 17 references that are in the map.
- First posted on arXiv 22 May 2025.

## Placed in

- End-to-end autonomous driving / [Large language models for driving](https://mlsanity.com/driving/large-language-models-for-driving/)

## Builds on (most cited first, 5 of 5)

- [LoRA: Low-Rank Adaptation of Large Language Models](https://mlsanity.com/paper/2106.09685/) (2021)
- [Sparks of Artificial General Intelligence: Early experiments with GPT-4](https://mlsanity.com/paper/2303.12712/) (2023)
- [Driving with LLMs: Fusing Object-Level Vector Modality for Explainable Autonomous Driving](https://mlsanity.com/paper/2310.01957/) (2023)
- [LaMPilot: An Open Benchmark Dataset for Autonomous Driving with Language Model Programs](https://mlsanity.com/paper/2312.04372/) (2023)
- [RAG-based Explainable Prediction of Road Users Behaviors for Automated Driving using Knowledge Graphs and Large Language Models](https://mlsanity.com/paper/2405.00449/) (2024)

## Abstract (arXiv)

Achieving full automation in self-driving vehicles remains a challenge, especially in dynamic urban environments where navigation requires real-time adaptability. Existing systems struggle to handle navigation plans when faced with unpredictable changes in road layouts, spontaneous detours, or missing map data, due to their heavy reliance on predefined cartographic information. In this work, we explore the use of Large Language Models to generate Answer Set Programming rules by translating informal navigation instructions into structured, logic-based reasoning. ASP provides non-monotonic reasoning, allowing autonomous vehicles to adapt to evolving scenarios without relying on predefined maps. We present an experimental evaluation in which LLMs generate ASP constraints that encode real-world urban driving logic into a formal knowledge representation. By automating the translation of informal navigation instructions into logical rules, our method improves adaptability and explainability in autonomous navigation. Results show that LLM-driven ASP rule generation supports semantic-based decision-making, offering an explainable framework for dynamic navigation planning that aligns closely with how humans communicate navigational intent.