{"id":"https://openalex.org/W7165888156","doi":"https://doi.org/10.48550/arxiv.2606.25509","title":"ASSCG: Just-Right Gating over Chattering for Fast-Slow LLM Planning in Autonomous Driving","display_name":"ASSCG: Just-Right Gating over Chattering for Fast-Slow LLM Planning in Autonomous Driving","publication_year":2026,"publication_date":"2026-06-24","ids":{"openalex":"https://openalex.org/W7165888156","doi":"https://doi.org/10.48550/arxiv.2606.25509"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.25509","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.25509","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2606.25509","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5125729321","display_name":"Sining Ang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ang, Sining","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139346225","display_name":"Yuan Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Yuan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139341135","display_name":"Liu Haiyan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Haiyan, Liu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038527654","display_name":"Xuanyao Mao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mao, Xuanyao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5125767806","display_name":"Jason Bao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Bao, Jason","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5139309829","display_name":"Xuliang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xuliang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100374253","display_name":"Bo Sun","orcid":"https://orcid.org/0000-0001-7001-8781"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sun, Bingchuan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5139319619","display_name":"Yan Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Yan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.382099986076355,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.382099986076355,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.18209999799728394,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T13702","display_name":"Machine Learning in Healthcare","score":0.04170000180602074,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/gating","display_name":"Gating","score":0.5174999833106995},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.5130000114440918},{"id":"https://openalex.org/keywords/latency","display_name":"Latency (audio)","score":0.5047000050544739},{"id":"https://openalex.org/keywords/inference","display_name":"Inference","score":0.3982999920845032},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.39800000190734863},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.36250001192092896},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.3325999975204468}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7592999935150146},{"id":"https://openalex.org/C194544171","wikidata":"https://www.wikidata.org/wiki/Q21105679","display_name":"Gating","level":2,"score":0.5174999833106995},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.5130000114440918},{"id":"https://openalex.org/C82876162","wikidata":"https://www.wikidata.org/wiki/Q17096504","display_name":"Latency (audio)","level":2,"score":0.5047000050544739},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4246000051498413},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.40389999747276306},{"id":"https://openalex.org/C2776214188","wikidata":"https://www.wikidata.org/wiki/Q408386","display_name":"Inference","level":2,"score":0.3982999920845032},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.39800000190734863},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.36250001192092896},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.3325999975204468},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.33250001072883606},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3203999996185303},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.32030001282691956},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.29170000553131104},{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.2784999907016754},{"id":"https://openalex.org/C2781020372","wikidata":"https://www.wikidata.org/wiki/Q533093","display_name":"On the fly","level":2,"score":0.27129998803138733},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2687999904155731},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.26510000228881836}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.25509","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.25509","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2606.25509","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.25509","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"score":0.5228034853935242,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Large":[0],"language":[1],"models":[2],"(LLMs)":[3],"can":[4],"improve":[5],"autonomous":[6],"driving":[7],"planning":[8],"but":[9],"are":[10],"costly":[11],"to":[12,61,92,108],"query":[13],"online,":[14],"and":[15,48,77,119,140,155,167],"existing":[16],"fast-slow":[17,95],"planners":[18],"often":[19],"rely":[20],"on":[21,99,147],"hand-designed":[22],"triggering":[23],"rules":[24],"that":[25,125],"either":[26],"over-call":[27],"the":[28,35,50],"slow":[29,66,144],"system":[30,124],"or":[31,64],"call":[32],"it":[33],"at":[34,172],"wrong":[36],"times.":[37],"We":[38,89],"formulate":[39],"slow-system":[40],"invocation":[41],"as":[42],"a":[43,121,135],"resource-aware":[44],"sequential":[45],"decision":[46],"problem":[47],"propose":[49],"Adaptive":[51],"Slow-System":[52],"Control":[53],"Gate":[54],"(ASSCG),":[55],"which":[56],"makes":[57],"frame-level":[58],"Query/Cache/Drop":[59],"decisions":[60],"refresh,":[62],"reuse,":[63],"suppress":[65],"guidance.":[67],"ASSCG":[68,91,105,150],"uses":[69],"an":[70,142],"RWKV":[71],"backbone":[72],"for":[73],"efficient":[74],"long-horizon":[75],"gating":[76],"is":[78,170],"trained":[79],"with":[80,134],"supervised":[81],"fine-tuning":[82],"followed":[83],"by":[84,117,128,159],"GRPO-style":[85],"compute-aware":[86],"reinforcement":[87],"fine-tuning.":[88],"apply":[90],"two":[93],"different":[94],"architectures:":[96],"(i)":[97],"AsyncDriver":[98],"nuPlan":[100],"Hard20":[101],"closed-loop":[102],"evaluation,":[103],"where":[104,149],"improves":[106],"score":[107],"67.28":[109],"(+2.28)":[110],"while":[111],"reducing":[112],"average":[113,157],"end-to-end":[114],"inference":[115],"latency":[116],"60%;":[118],"(ii)":[120],"RecogDrive-based":[122],"dual":[123],"we":[126],"build":[127],"replacing":[129],"its":[130],"original":[131],"VLM-2B":[132],"module":[133],"lightweight":[136],"ViT-based":[137],"fast":[138],"planner":[139],"adding":[141],"LLM":[143],"planner,":[145],"evaluated":[146],"NAVSIM,":[148],"achieves":[151],"91.4":[152],"PDMS":[153],"(+0.6)":[154],"increases":[156],"speed":[158],"25%.":[160],"The":[161],"project":[162],"page,":[163],"including":[164],"video":[165],"visualizations":[166],"additional":[168],"results,":[169],"available":[171],"https://williamxuanyu.github.io/asscg/.":[173]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-06-26T00:00:00"}
