Not All Uncertainty Matters: Simulation-in-the-Loop Fast-Slow Reasoning for Decision-Critical Autonomous Driving System

arXiv:2610.09520 · cs.RO, cs.AI · Submitted 2026-10-07 · Read on arXiv

cs.RO, cs.AI

Submitted: 2026-10-07

Updated: 2026-10-07

Code: https://github.com/cjychenjiayi/3D

Terminology

• Verification — 7× in this paper · explained in 2 episodes
• Expected Planning Gain — 6× in this paper
• Accuracy — 5× in this paper · explained in 1 episode
• Robustness — 4× in this paper · explained in 5 episodes
• Calibration — 3× in this paper · explained in 7 episodes
• Conformal Prediction — 3× in this paper · explained in 5 episodes
• Mobile Edge Computing — 2× in this paper · explained in 2 episodes
• Semantic Understanding — 2× in this paper · explained in 2 episodes
• World Model — 2× in this paper · explained in 7 episodes
• Benchmark — 1× in this paper · explained in 2 episodes
• Computational overhead — 1× in this paper · explained in 2 episodes
• Deep Reinforcement Learning — 1× in this paper · explained in 2 episodes
• Formal Verification — 1× in this paper · explained in 2 episodes
• Foundation Model — 1× in this paper · explained in 3 episodes
• Mask Generation — 1× in this paper · explained in 2 episodes
• Reinforcement Learning — 1× in this paper · explained in 4 episodes
• Resource Constraints — 1× in this paper · explained in 3 episodes
• Sparsity — 1× in this paper · explained in 4 episodes
• Steering — 1× in this paper · explained in 2 episodes
• Vision-Language Models (VLMs) — 1× in this paper · explained in 6 episodes

Sources

• Bridging Large-Model Reasoning and Real-Time Control via Agentic Fast-Slow Planning
• AgentsCoDriver: Large Language Model Empowered Collaborative Driving with Lifelong Learning
• LanguageMPC: Large Language Models as Decision Makers for Autonomous Driving

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