# Accelerating Structured Chain-of-Thought in Autonomous Vehicles

arXiv: https://arxiv.org/abs/2602.02864 · HTML: https://mlsanity.com/paper/2602.02864/

## Key facts

- Cited by 6 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 33 of its 48 references that are in the map.
- First posted on arXiv 2 Feb 2026.

## Placed in

- LLM reasoning / [Chain-of-thought reasoning for driving](https://mlsanity.com/lr/chain-of-thought-reasoning-for-driving/)
- End-to-end autonomous driving / [Reasoning VLA and VLM driving policies](https://mlsanity.com/driving/reasoning-vla-and-vlm-driving-policies/)

## Builds on (most cited first, 30 of 33)

- [Qwen3 Technical Report](https://mlsanity.com/paper/2505.09388/) (2025)
- [DINOv2: Learning Robust Visual Features without Supervision](https://mlsanity.com/paper/2304.07193/) (2023)
- [DeepSeek-R1: Incentivizing Reasoning Capability in LLMs via Reinforcement Learning](https://mlsanity.com/paper/2501.12948/) (2025)
- [Self-Consistency Improves Chain of Thought Reasoning in Language Models](https://mlsanity.com/paper/2203.11171/) (2022)
- [Flow Matching for Generative Modeling](https://mlsanity.com/paper/2210.02747/) (2022)
- [Qwen2.5-VL Technical Report](https://mlsanity.com/paper/2502.13923/) (2025)
- [Gemini 2.5: Pushing the Frontier with Advanced Reasoning, Multimodality, Long Context, and Next Generation Agentic Capabilities](https://mlsanity.com/paper/2507.06261/) (2025)
- [OpenVLA: An Open-Source Vision-Language-Action Model](https://mlsanity.com/paper/2406.09246/) (2024)
- [FlashAttention-2: Faster Attention with Better Parallelism and Work Partitioning](https://mlsanity.com/paper/2307.08691/) (2023)
- [π0: A Vision-Language-Action Flow Model for General Robot Control](https://mlsanity.com/paper/2410.24164/) (2024)
- [Qwen2 Technical Report](https://mlsanity.com/paper/2407.10671/) (2024)
- [PaLM-E: An Embodied Multimodal Language Model](https://mlsanity.com/paper/2303.03378/) (2023)
- [Decoupled Weight Decay Regularization](https://mlsanity.com/paper/1711.05101/) (2017)
- [Least-to-Most Prompting Enables Complex Reasoning in Large Language Models](https://mlsanity.com/paper/2205.10625/) (2022)
- [Large Language Monkeys: Scaling Inference Compute with Repeated Sampling](https://mlsanity.com/paper/2407.21787/) (2024)
- [Reasoning with Language Model is Planning with World Model](https://mlsanity.com/paper/2305.14992/) (2023)
- [DeepSeek-V3 Technical Report](https://mlsanity.com/paper/2412.19437/) (2024)
- [DriveVLM: The Convergence of Autonomous Driving and Large Vision-Language Models](https://mlsanity.com/paper/2402.12289/) (2024)
- [Break the Sequential Dependency of LLM Inference Using Lookahead Decoding](https://mlsanity.com/paper/2402.02057/) (2024)
- [AutoVLA: A Vision-Language-Action Model for End-to-End Autonomous Driving with Adaptive Reasoning and Reinforcement Fine-Tuning](https://mlsanity.com/paper/2506.13757/) (2025)
- [OpenDriveVLA: Towards End-to-end Autonomous Driving with Large Vision Language Action Model](https://mlsanity.com/paper/2503.23463/) (2025)
- [Alpamayo-R1: Bridging Reasoning and Action Prediction for Generalizable Autonomous Driving in the Long Tail](https://mlsanity.com/paper/2511.00088/) (2025)
- [DriveCoT: Integrating Chain-of-Thought Reasoning with End-to-End Driving](https://mlsanity.com/paper/2403.16996/) (2024)
- [Learning Adaptive Parallel Reasoning with Language Models](https://mlsanity.com/paper/2504.15466/) (2025)
- [CarLLaVA: Vision language models for camera-only closed-loop driving](https://mlsanity.com/paper/2406.10165/) (2024)
- [Tokenize the World into Object-level Knowledge to Address Long-tail Events in Autonomous Driving](https://mlsanity.com/paper/2407.00959/) (2024)
- [AutoDrive-R2: Incentivizing Reasoning and Self-Reflection Capacity for VLA Model in Autonomous Driving](https://mlsanity.com/paper/2509.01944/) (2025)
- [Hogwild! Inference: Parallel LLM Generation via Concurrent Attention](https://mlsanity.com/paper/2504.06261/) (2025)
- [Multiverse: Your Language Models Secretly Decide How to Parallelize and Merge Generation](https://mlsanity.com/paper/2506.09991/) (2025)
- [DriveGPT: Scaling Autoregressive Behavior Models for Driving](https://mlsanity.com/paper/2412.14415/) (2024)

## Built on by (most cited first, 6 of 6)

- [nuReasoning: A Reasoning-Centric Dataset and Benchmark for Long-Tail Autonomous Driving](https://mlsanity.com/paper/2605.31572/) (2026)
- [Fast-dDrive: Efficient Block-Diffusion VLM for Autonomous Driving](https://mlsanity.com/paper/2605.23163/) (2026)
- [OmniV2X: A Generative Foundation Planner for Efficient End-to-End Cooperative Driving](https://mlsanity.com/paper/2606.21165/) (2026)
- [ST-Prune: Training-Free Spatio-Temporal Token Pruning for Vision-Language Models in Autonomous Driving](https://mlsanity.com/paper/2604.19145/) (2026)
- [Deferred Exposure of Future Trajectories for Verifiable Reasoning in Autonomous Driving VLMs](https://mlsanity.com/paper/2608.01755/) (2026)
- [Beyond Textual Chain-of-Thought: A Survey on Action-Grounded Reasoning in Autonomous Driving](https://mlsanity.com/paper/2609.01659/) (2026)

## Abstract (arXiv)

Chain-of-Thought (CoT) reasoning enhances the decision-making capabilities of vision-language-action models in autonomous driving, but its autoregressive nature introduces significant inference latency, making it impractical for real-time applications. To address this, we introduce FastDriveCoT, a novel parallel decoding method that accelerates template-structured CoT. Our approach decomposes the reasoning process into a dependency graph of distinct sub-tasks, such as identifying critical objects and summarizing traffic rules, some of which can be generated in parallel. By generating multiple independent reasoning steps concurrently within a single forward pass, we significantly reduce the number of sequential computations. Experiments demonstrate a 3-4× speedup in CoT generation and a substantial reduction in end-to-end latency across various model architectures, all while preserving the original downstream task improvements brought by incorporating CoT reasoning.