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Gating Before Commitment: Anticipating Intent Divergence to Prevent Post-Interaction Decision Failures in Autonomous Driving

arXiv · AI, language, vision and robotics · article · Aug 26, 2026 · UTC

Intent misinterpretation during vehicle interactions causes recurring planning failures. We study a decision layer in which a language-guided intent module reads structured descriptors, computes a smoothed intent-geometry divergence score, and gates the planned maneuver before commitment, upstream of a corridor envelope. On a replayed off-road departure and four crash clips under a frozen, disclosed implementation, gating is the only layer that repairs the plan: on the main case it fires 72 ms after the drift onset but 161 ms before the corridor exit, keeping the trajectory in the corridor in

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