PlannerForge: LLM Agents for Scenario-Based Testing of Motion Planners in Autonomous Driving
PlannerForge unifies scenario-based testing of autonomous driving motion planners in one LLM-agent framework, outperforming prior baselines.
PlannerForge is an LLM-agent framework that covers the full scenario-based testing pipeline for autonomous driving systems, spanning scenario generation, selection, modification, routing, planner testing, plus new enhancement and benchmarking stages. In evaluations with 10 off-the-shelf LLMs, best-per-task scores range from 0.88 to 1.00, and open-source 20-35B backends such as Qwen3.6:35B match commercial APIs on most tasks. End-to-end chaining retains 83% (commercial) and 78% (open) of seed queries, beats Scenario Factory 2.0 on executable generation, and cost-tuning lifts planner success from 50.4% to 70.2% while cutting collisions from 19.0% to 8.4%.