← 研踪 PaperTrailACL Anthology · ACL 2026:acl:2026.acl-long.1381 · 记录 #1
From Language to Driving: A Dual-Loop SLM-Enhanced Framework for Multi-Planner Scheduling via a Domain-Specific Language
来源日期（仅到月份） 2026-07
来源记录日期 2026-07
雷达观测 2026-11-01 21:54
摘要
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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记录 #1 · 2026-07 · 最新观测版本
From Language to Driving: A Dual-Loop SLM-Enhanced Framework for Multi-Planner Scheduling via a Domain-Specific Language
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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