Jiawei Liu, Xun Gong Jilin University, China, Muli Yang A*STAR, Xingrui Yu Institute of High Performance Computing, Singapore, A*STAR, Fen Fang, Xulei Yang I2R, A*STAR, Ivor Tsang, Yunfeng hu 等 10 位作者
Advancing from usable to collaborative autonomy requires driving systems to execute passenger instructions safely and reliably. This work formulates instruction realization as scheduling across multiple motion planners and presents a dual-loop framework that provides a transparent decision chain from natural language to vehicle control. The outer loop uses a small language model (SLM) for high-level, low-frequency semantic reasoning and schedule generation, while the inner loop performs low-level, high-frequency schedule execution and vehicle control. To compensate for the SLM’s limited capacity, the framework integrates receding-horizon scheduling to segment long-horizon instruction tasks, a domain-specific language (DSL) that restricts SLM outputs to a scheduling-oriented subspace, and reinforcement learning in high-fidelity urban traffic to refine the SLM’s DSL proficiency and scheduling performance. Experiments show that the framework improves instruction-completion rates while maintaining high safety and compliance relative to multiple baselines.
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cs.CL
Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers) · 2026 · 正式发表
Chenghao Xu Hohai University, Jiexi Yan, Guangtao Lyu, Qi Liu, Muli Yang A*STAR, Cheng Deng
Large language models (LLMs) store extensive factual knowledge acquired during pretraining, yet this knowledge is inherently static and may become inaccurate or outdated, leading to knowledge hallucinations. Knowledge editing offers an efficient alternative to full retraining by enabling targeted factual updates while preserving overall model behavior. Existing locate-then-edit methods, however, rely on fixed layer selection strategies, treating the locating stage as a static design choice and failing to account for the hierarchical and instance-dependent nature of knowledge representation in LLMs. In this paper, we propose FiDAL, a Fisher-driven adaptation-aware locating strategy that dynamically identifies which model components should be edited for a given knowledge update. FiDAL formulates localization as a weight-level decision problem and leverages Fisher Information to select layers that are both influential and sensitive to factual modifications. A lightweight probing stage with low-rank modulation enables efficient localization with minimal overhead. Experiments on standard benchmarks demonstrate that FiDAL consistently improves editing effectiveness and knowledge preservation across multiple editing methods.
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cs.CL
Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics (Volume 1: Long Papers) · 2026 · 正式发表