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Beyond Textual Chain-of-Thought: A Survey on Action-Grounded Reasoning in Autonomous Driving

arXiv · AI, language, vision and robotics · article · Aug 31, 2026 · UTC

Chain-of-thought (CoT) reasoning powers generative models by eliciting intermediate steps before producing an answer. In autonomous driving, the answer is a continuous action. Thus its reasoning must share the same spatiotemporal structure as the physical world. This survey studies the resulting shift from textual CoT to action-grounded reasoning. Surveying 171 papers, including 130 method papers and 41 benchmarks, datasets, surveys, and analysis papers, we propose a representation-centered taxonomy that treats the form of the intermediate state as the organizing axis. We systematize the 130 m

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