# LUNA-AD: Lightweight Uncertainty-Aware Language Model with Lifelong Learning for Autonomous Driving

arXiv: https://arxiv.org/abs/2606.08470 · HTML: https://mlsanity.com/paper/2606.08470/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Placed in Chain-of-thought reasoning for driving, one of 17 directions in LLM reasoning.
- Builds on 43 of its 54 references that are in the map.
- First posted on arXiv 7 Jun 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 43)

- [Language Models are Few-Shot Learners](https://mlsanity.com/paper/2005.14165/) (2020)
- [Chain-of-Thought Prompting Elicits Reasoning in Large Language Models](https://mlsanity.com/paper/2201.11903/) (2022)
- [Distilling the Knowledge in a Neural Network](https://mlsanity.com/paper/1503.02531/) (2015)
- [Qwen3 Technical Report](https://mlsanity.com/paper/2505.09388/) (2025)
- [Scaling Laws for Neural Language Models](https://mlsanity.com/paper/2001.08361/) (2020)
- [Self-Consistency Improves Chain of Thought Reasoning in Language Models](https://mlsanity.com/paper/2203.11171/) (2022)
- [Tree of Thoughts: Deliberate Problem Solving with Large Language Models](https://mlsanity.com/paper/2305.10601/) (2023)
- [Can LLMs Express Their Uncertainty? An Empirical Evaluation of Confidence Elicitation in LLMs](https://mlsanity.com/paper/2306.13063/) (2023)
- [DriveLM: Driving with Graph Visual Question Answering](https://mlsanity.com/paper/2312.14150/) (2023)
- [NuPlan: A closed-loop ML-based planning benchmark for autonomous vehicles](https://mlsanity.com/paper/2106.11810/) (2021)
- [End-to-end Autonomous Driving: Challenges and Frontiers](https://mlsanity.com/paper/2306.16927/) (2023)
- [LMDrive: Closed-Loop End-to-End Driving with Large Language Models](https://mlsanity.com/paper/2312.07488/) (2023)
- [A Survey on Knowledge Distillation of Large Language Models](https://mlsanity.com/paper/2402.13116/) (2024)
- [Hydra-MDP: End-to-end Multimodal Planning with Multi-target Hydra-Distillation](https://mlsanity.com/paper/2406.06978/) (2024)
- [Parting with Misconceptions about Learning-based Vehicle Motion Planning](https://mlsanity.com/paper/2306.07962/) (2023)
- [Is Ego Status All You Need for Open-Loop End-to-End Autonomous Driving?](https://mlsanity.com/paper/2312.03031/) (2023)
- [DiLu: A Knowledge-Driven Approach to Autonomous Driving with Large Language Models](https://mlsanity.com/paper/2309.16292/) (2023)
- [ReCogDrive: A Reinforced Cognitive Framework for End-to-End Autonomous Driving](https://mlsanity.com/paper/2506.08052/) (2025)
- [ORION: A Holistic End-to-End Autonomous Driving Framework by Vision-Language Instructed Action Generation](https://mlsanity.com/paper/2503.19755/) (2025)
- [OpenDriveVLA: Towards End-to-end Autonomous Driving with Large Vision Language Action Model](https://mlsanity.com/paper/2503.23463/) (2025)
- [Senna: Bridging Large Vision-Language Models and End-to-End Autonomous Driving](https://mlsanity.com/paper/2410.22313/) (2024)
- [What Language Model Architecture and Pretraining Objective Work Best for Zero-Shot Generalization?](https://mlsanity.com/paper/2204.05832/) (2022)
- [GameFormer: Game-theoretic Modeling and Learning of Transformer-based Interactive Prediction and Planning for Autonomous Driving](https://mlsanity.com/paper/2303.05760/) (2023)
- [Diffusion-Based Planning for Autonomous Driving with Flexible Guidance](https://mlsanity.com/paper/2501.15564/) (2025)
- [DriveVLA-W0: World Models Amplify Data Scaling Law in Autonomous Driving](https://mlsanity.com/paper/2510.12796/) (2025)
- [Urban Driver: Learning to Drive from Real-world Demonstrations Using Policy Gradients](https://mlsanity.com/paper/2109.13333/) (2021)
- [Are VLMs Ready for Autonomous Driving? An Empirical Study from the Reliability, Data, and Metric Perspectives](https://mlsanity.com/paper/2501.04003/) (2025)
- [PLUTO: Pushing the Limit of Imitation Learning-based Planning for Autonomous Driving](https://mlsanity.com/paper/2404.14327/) (2024)
- [From Prediction to Planning With Goal Conditioned Lane Graph Traversals](https://mlsanity.com/paper/2302.07753/) (2023)
- [Continuously Learning, Adapting, and Improving: A Dual-Process Approach to Autonomous Driving](https://mlsanity.com/paper/2405.15324/) (2024)

## Abstract (arXiv)

While large language models (LLMs) offer promising reasoning capabilities, their integration into safety-critical driving systems is hindered by limited reasoning diversity, high computational overhead, and static learning paradigms. To address these challenges, we propose LUNA-AD, a lightweight uncertainty-aware language model with lifelong learning for autonomous driving (AD). LUNA-AD features a tri-system architecture that reconciles complex multimodal behavioral reasoning, efficient deployment, and continual refinement. We design a multi-agent analytical system to generate uncertainty-aware decision-making demonstrations through diverse hypothesis exploration. A dual-head lightweight heuristic model is distilled to unify the inference of decision distributions and textual explanations while enabling efficient deployment. Furthermore, a reflection-driven lifelong learning mechanism operates on multimodal decision outputs and preserves strategic diversity, allowing for the refinement of candidate decisions and rationales via closed-loop feedback to enhance driving robustness. Extensive experiments on nuPlan benchmarks demonstrate that LUNA-AD achieves state-of-the-art success rates under both non-reactive and reactive modes, with drastically reduced inference latency compared to existing knowledge-driven AD frameworks.