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PlannerForge: LLM Agents for Scenario-Based Testing of Motion Planners in Autonomous Driving

arXiv · AI, language, vision and robotics · article · Sep 8, 2026 · UTC

Ensuring the safety of autonomous driving is a critical challenge. Scenario-based testing is a systematic process used to validate Autonomous Driving Systems (ADSs), but it remains a fragmented modular pipeline in which scenario generation, retrieval, modification, ADS execution, and results analysis are performed by separate tools with little interaction. Large Language Model (LLM) agents have shown promise across ADS sub-systems such as perception, planning, and control. However, no prior work covers the whole scenario-based testing pipeline for ADSs with a unified LLM-agent framework. We pr

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