# DRIV-EX: Counterfactual Explanations for Driving LLMs

arXiv: https://arxiv.org/abs/2603.00696 · HTML: https://mlsanity.com/paper/2603.00696/

## Key facts

- Cited by 1 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 45 of its 69 references that are in the map.
- First posted on arXiv 28 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 / [Large language models for driving](https://mlsanity.com/driving/large-language-models-for-driving/)

## Builds on (most cited first, 30 of 45)

- [Adam: A Method for Stochastic Optimization](https://mlsanity.com/paper/1412.6980/) (2014)
- [The Llama 3 Herd of Models](https://mlsanity.com/paper/2407.21783/) (2024)
- [BERTScore: Evaluating Text Generation with BERT](https://mlsanity.com/paper/1904.09675/) (2019)
- [nuScenes: A multimodal dataset for autonomous driving](https://mlsanity.com/paper/1903.11027/) (2019)
- [Prefix-Tuning: Optimizing Continuous Prompts for Generation](https://mlsanity.com/paper/2101.00190/) (2021)
- [The Power of Scale for Parameter-Efficient Prompt Tuning](https://mlsanity.com/paper/2104.08691/) (2021)
- [Estimating or Propagating Gradients Through Stochastic Neurons for Conditional Computation](https://mlsanity.com/paper/1308.3432/) (2013)
- [Jailbroken: How Does LLM Safety Training Fail?](https://mlsanity.com/paper/2307.02483/) (2023)
- [Language Models Don't Always Say What They Think: Unfaithful Explanations in Chain-of-Thought Prompting](https://mlsanity.com/paper/2305.04388/) (2023)
- [Counterfactual Explanations without Opening the Black Box: Automated Decisions and the GDPR](https://mlsanity.com/paper/1711.00399/) (2017)
- [Towards Automated Circuit Discovery for Mechanistic Interpretability](https://mlsanity.com/paper/2304.14997/) (2023)
- [Universal Adversarial Triggers for Attacking and Analyzing NLP](https://mlsanity.com/paper/1908.07125/) (2019)
- [Jailbreaking Leading Safety-Aligned LLMs with Simple Adaptive Attacks](https://mlsanity.com/paper/2404.02151/) (2024)
- [PICARD: Parsing Incrementally for Constrained Auto-Regressive Decoding from Language Models](https://mlsanity.com/paper/2109.05093/) (2021)
- [FUDGE: Controlled Text Generation With Future Discriminators](https://mlsanity.com/paper/2104.05218/) (2021)
- [GPT-Driver: Learning to Drive with GPT](https://mlsanity.com/paper/2310.01415/) (2023)
- [Hard Prompts Made Easy: Gradient-Based Discrete Optimization for Prompt Tuning and Discovery](https://mlsanity.com/paper/2302.03668/) (2023)
- [The highD Dataset: A Drone Dataset of Naturalistic Vehicle Trajectories on German Highways for Validation of Highly Automated Driving Systems](https://mlsanity.com/paper/1810.05642/) (2018)
- [EMMA: End-to-End Multimodal Model for Autonomous Driving](https://mlsanity.com/paper/2410.23262/) (2024)
- [Polyjuice: Generating Counterfactuals for Explaining, Evaluating, and Improving Models](https://mlsanity.com/paper/2101.00288/) (2021)
- [Visualizing and Understanding Neural Models in NLP](https://mlsanity.com/paper/1506.01066/) (2015)
- [COLD-Attack: Jailbreaking LLMs with Stealthiness and Controllability](https://mlsanity.com/paper/2402.08679/) (2024)
- [COLD Decoding: Energy-based Constrained Text Generation with Langevin Dynamics](https://mlsanity.com/paper/2202.11705/) (2022)
- [MotionLM: Multi-Agent Motion Forecasting as Language Modeling](https://mlsanity.com/paper/2309.16534/) (2023)
- [SimLingo: Vision-Only Closed-Loop Autonomous Driving with Language-Action Alignment](https://mlsanity.com/paper/2503.09594/) (2025)
- [Alpamayo-R1: Bridging Reasoning and Action Prediction for Generalizable Autonomous Driving in the Long Tail](https://mlsanity.com/paper/2511.00088/) (2025)
- [OmniDrive: A Holistic Vision-Language Dataset for Autonomous Driving with Counterfactual Reasoning](https://mlsanity.com/paper/2504.04348/) (2025)
- [Perturbed Masking: Parameter-free Probing for Analyzing and Interpreting BERT](https://mlsanity.com/paper/2004.14786/) (2020)
- [Explaining NLP Models via Minimal Contrastive Editing (MiCE)](https://mlsanity.com/paper/2012.13985/) (2020)
- [Fight Back Against Jailbreaking via Prompt Adversarial Tuning](https://mlsanity.com/paper/2402.06255/) (2024)

## Built on by (most cited first, 1 of 1)

- [Macro: Enhancing Multilingual Counterfactual Explanations through Alignment-as-Preference Optimization](https://mlsanity.com/paper/2605.11632/) (2026)

## Abstract (arXiv)

Large language models (LLMs) are increasingly used as reasoning engines in autonomous driving, yet their decision-making remains opaque. We propose to study their decision process through counterfactual explanations, which identify the minimal semantic changes to a scene description required to alter a driving plan. We introduce DRIV-EX, a method that leverages gradient-based optimization on continuous embeddings to identify the input shifts required to flip the model's decision. Crucially, to avoid the incoherent text typical of unconstrained continuous optimization, DRIV-EX uses these optimized embeddings solely as a semantic guide: they are used to bias a controlled decoding process that re-generates the original scene description. This approach effectively steers the generation toward the counterfactual target while guaranteeing the linguistic fluency, domain validity, and proximity to the original input, essential for interpretability. Evaluated using the LC-LLM planner on a textual transcription of the highD dataset, DRIV-EX generates valid, fluent counterfactuals more reliably than existing baselines. It successfully exposes latent biases and provides concrete insights to improve the robustness of LLM-based driving agents. The code is available at "https://github.com/Amaia-CARDIEL/DRIV_EX" .