Plan-R1: Safe and Feasible Trajectory Planning as Language Modeling

ArXi:2505.17659v4 Announce Type: replace-cross Safe and feasible trajectory planning is critical for real-world autonomous driving systems. However, existing learning-based planners rely heavily on expert nstrations, which not only lack explicit safety awareness but also risk inheriting undesirable behaviors such as speeding from suboptimal human driving data. Inspired by the success of large language models, we propose Plan-R1, a two-stage trajectory planning framework that decouples principle alignment from behavior learning.