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Modern autonomous driving system is characterized as modular tasks in sequential order, i.e., perception, prediction, and planning.
A multiple shooting algorithm for direct solution of optimal control problems
Hans Georg Bock and Karl-Josef Plitt · 1984
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Alvinn: An autonomous land vehicle in a neural network
Dean A Pomerleau · 1988
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Integrating grid-based and topological maps for mobile robot navigation
Sebastian Thrun and Arno Bücken · 1996
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End to end learning for self-driving cars
Mariusz Bojarski, Davide Del Testa, Daniel Dworakowski, Bernhard Firner, Beat Flepp, Prasoon Goyal, Lawrence D Jackel, Mathew Monfort, Urs Muller, Jiakai Zhang, Xin Zhang, Jake Zhao, and Zieba Karol · 2016
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Deep residual learning for image recognition
Kaiming He, Xiangyu Zhang, Shaoqing Ren, and Jian Sun · 2016
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V-net: Fully convolutional neural networks for volumetric medical image segmentation
Fausto Milletari, Nassir Navab, and Seyed-Ahmad Ahmadi · 2016
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CARLA: An open urban driving simulator
Alexey Dosovitskiy, German Ros, Felipe Codevilla, Antonio Lopez, and Vladlen Koltun · 2017
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Focal loss for dense object detection
Tsung-Yi Lin, Priya Goyal, Ross Girshick, Kaiming He, and Piotr Dollár · 2017
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Attention is all you need
Ashish Vaswani, Noam Shazeer, Niki Parmar, Jakob Uszkoreit, Llion Jones, Aidan N Gomez, Łukasz Kaiser, and Illia Polosukhin · 2017
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Chauffeurnet: Learning to drive by imitating the best and synthesizing the worst
Mayank Bansal, Alex Krizhevsky, and Abhijit Ogale · 2018
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Intentnet: Learning to predict intention from raw sensor data
Sergio Casas, Wenjie Luo, and Raquel Urtasun · 2018
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End-to-end driving via conditional imitation learning
Felipe Codevilla, Matthias Müller, Antonio López, Vladlen Koltun, and Alexey Dosovitskiy · 2018
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Cirl: Controllable imitative reinforcement learning for vision-based self-driving
Xiaodan Liang, Tairui Wang, Luona Yang, and Eric Xing · 2018
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Decoupled weight decay regularization
Ilya Loshchilov and Frank Hutter · 2018
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Fast and furious: Real time end-to-end 3d detection, tracking and motion forecasting with a single convolutional net
Wenjie Luo, Bin Yang, and Raquel Urtasun · 2018
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Exploring the limitations of behavior cloning for autonomous driving
Felipe Codevilla, Eder Santana, Antonio M López, and Adrien Gaidon · 2019
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Learning to drive in a day
Alex Kendall, Jeffrey Hawke, David Janz, Przemyslaw Mazur, Daniele Reda, John-Mark Allen, Vinh-Dieu Lam, Alex Bewley, and Amar Shah · 2019
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Panoptic segmentation
Alexander Kirillov, Kaiming He, Ross Girshick, Carsten Rother, and Piotr Dollár · 2019
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An energy and gpu-computation efficient backbone network for real-time object detection
Youngwan Lee, Joong-won Hwang, Sangrok Lee, Yuseok Bae, and Jongyoul Park · 2019
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Generalized intersection over union: A metric and a loss for bounding box regression
Hamid Rezatofighi, Nathan Tsoi, JunYoung Gwak, Amir Sadeghian, Ian Reid, and Silvio Savarese · 2019
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PRECOG: Prediction conditioned on goals in visual multi-agent settings
Nicholas Rhinehart, Rowan McAllister, Kris Kitani, and Sergey Levine · 2019
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End-to-end interpretable neural motion planner
Wenyuan Zeng, Wenjie Luo, Simon Suo, Abbas Sadat, Bin Yang, Sergio Casas, and Raquel Urtasun · 2019
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PLOP: Probabilistic polynomial objects trajectory planning for autonomous driving
Thibault Buhet, Émilie Wirbel, and Xavier Perrotton · 2020
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nuscenes: A multimodal dataset for autonomous driving
Holger Caesar, Varun Bankiti, Alex H Lang, Sourabh Vora, Venice Erin Liong, Qiang Xu, Anush Krishnan, Yu Pan, Giancarlo Baldan, and Oscar Beijbom · 2020
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End-to-end object detection with transformers
Nicolas Carion, Francisco Massa, Gabriel Synnaeve, Nicolas Usunier, Alexander Kirillov, and Sergey Zagoruyko · 2020
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Spagnn: Spatially-aware graph neural networks for relational behavior forecasting from sensor data
Sergio Casas, Cole Gulino, Renjie Liao, and Raquel Urtasun · 2020
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Multipath: Multiple probabilistic anchor trajectory hypotheses for behavior prediction
Yuning Chai, Benjamin Sapp, Mayank Bansal, and Dragomir Anguelov · 2020
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Learning by cheating
Dian Chen, Brady Zhou, Vladlen Koltun, and Philipp Krähenbühl · 2020
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Multi-task learning with deep neural networks: A survey
Michael Crawshaw · 2020
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Vectornet: Encoding hd maps and agent dynamics from vectorized representation
Jiyang Gao, Chen Sun, Hang Zhao, Yi Shen, Dragomir Anguelov, Congcong Li, and Cordelia Schmid · 2020
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Fishing net: Future inference of semantic heatmaps in grids
Noureldin Hendy, Cooper Sloan, Feng Tian, Pengfei Duan, Nick Charchut, Yuesong Xie, Chuang Wang, and James Philbin · 2020
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Video panoptic segmentation
Dahun Kim, Sanghyun Woo, Joon-Young Lee, and In So Kweon · 2020
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End-to-end contextual perception and prediction with interaction transformer
Lingyun Luke Li, Bin Yang, Ming Liang, Wenyuan Zeng, Mengye Ren, Sean Segal, and Raquel Urtasun · 2020
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Pnpnet: End-to-end perception and prediction with tracking in the loop
Ming Liang, Bin Yang, Wenyuan Zeng, Yun Chen, Rui Hu, Sergio Casas, and Raquel Urtasun · 2020
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Cross-view semantic segmentation for sensing surroundings
Bowen Pan, Jiankai Sun, Ho Yin Tiga Leung, Alex Andonian, and Bolei Zhou · 2020
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Lift, splat, shoot: Encoding images from arbitrary camera rigs by implicitly unprojecting to 3d
Jonah Philion and Sanja Fidler · 2020
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Perceive, predict, and plan: Safe motion planning through interpretable semantic representations
Abbas Sadat, Sergio Casas, Mengye Ren, Xinyu Wu, Pranaab Dhawan, and Raquel Urtasun · 2020
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Pip: Planning-informed trajectory prediction for autonomous driving
Haoran Song, Wenchao Ding, Yuxuan Chen, Shaojie Shen, Michael Yu Wang, and Qifeng Chen · 2020
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End-to-end model-free reinforcement learning for urban driving using implicit affordances
Marin Toromanoff, Emilie Wirbel, and Fabien Moutarde · 2020
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Motionnet: Joint perception and motion prediction for autonomous driving based on bird’s eye view maps
Pengxiang Wu, Siheng Chen, and Dimitris N Metaxas · 2020
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Dsdnet: Deep structured self-driving network
Wenyuan Zeng, Shenlong Wang, Renjie Liao, Yun Chen, Bin Yang, and Raquel Urtasun · 2020
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TNT: Target-driven trajectory prediction
Hang Zhao, Jiyang Gao, Tian Lan, Chen Sun, Benjamin Sapp, Balakrishnan Varadarajan, Yue Shen, Yi Shen, Yuning Chai, Cordelia Schmid, Congcong Li, and Dragomir Anguelov · 2020
Cited alongside, same era.
Model-based imitation learning for urban driving
Anthony Hu, Gianluca Corrado, Nicolas Griffiths, Zak Murez, Corina Gurau, Hudson Yeo, Alex Kendall, Roberto Cipolla, and Jamie Shotton · 2022
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Monocular quasi-dense 3d object tracking
Hou-Ning Hu, Yung-Hsu Yang, Tobias Fischer, Trevor Darrell, Fisher Yu, and Min Sun · 2022
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ST-P3: End-to-end vision-based autonomous driving via spatial-temporal feature learning
Shengchao Hu, Li Chen, Penghao Wu, Hongyang Li, Junchi Yan, and Dacheng Tao · 2022
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Zhiyu Huang, Haochen Liu, Jingda Wu, and Chen Lv · 2022
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Towards capturing the temporal dynamics for trajectory prediction: a coarse-to-fine approach
Xiaosong Jia, Li Chen, Penghao Wu, Jia Zeng, Junchi Yan, Hongyang Li, and Yu Qiao · 2022
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Xizhou Zhu, Weijie Su, Lewei Lu, Bin Li, Xiaogang Wang, and Jifeng Dai · 2020
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nuplan: A closed-loop ml-based planning benchmark for autonomous vehicles
Holger Caesar, Juraj Kabzan, Kok Seang Tan, Whye Kit Fong, Eric Wolff, Alex Lang, Luke Fletcher, Oscar Beijbom, and Sammy Omari · 2021
Cited alongside, same era.
Mp3: A unified model to map, perceive, predict and plan
Sergio Casas, Abbas Sadat, and Raquel Urtasun · 2021
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GRI: General reinforced imitation and its application to vision-based autonomous driving
Raphael Chekroun, Marin Toromanoff, Sascha Hornauer, and Fabien Moutarde · 2021
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Learning to drive from a world on rails
Dian Chen, Vladlen Koltun, and Philipp Krähenbühl · 2021
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Per-pixel classification is not all you need for semantic segmentation
Bowen Cheng, Alex Schwing, and Alexander Kirillov · 2021
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NEAT: Neural attention fields for end-to-end autonomous driving
Kashyap Chitta, Aditya Prakash, and Andreas Geiger · 2021
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Xiaosong Jia, Penghao Wu, Li Chen, Hongyang Li, Yu Liu, and Junchi Yan · 2022
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Predictionnet: Real-time joint probabilistic traffic prediction for planning, control, and simulation
Alexey Kamenev, Lirui Wang, Ollin Boer Bohan, Ishwar Kulkarni, Bilal Kartal, Artem Molchanov, Stan Birchfield, David Nistér, and Nikolai Smolyanskiy · 2022
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Differentiable raycasting for self-supervised occupancy forecasting
Tarasha Khurana, Peiyun Hu, Achal Dave, Jason Ziglar, David Held, and Deva Ramanan · 2022
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Stopnet: Scalable trajectory and occupancy prediction for urban autonomous driving
Jinkyu Kim, Reza Mahjourian, Scott Ettinger, Mayank Bansal, Brandyn White, Ben Sapp, and Dragomir Anguelov · 2022
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Unifying voxel-based representation with transformer for 3d object detection
Yanwei Li, Yilun Chen, Xiaojuan Qi, Zeming Li, Jian Sun, and Jiaya Jia · 2022
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BEVFormer: Learning bird’s-eye-view representation from multi-camera images via spatiotemporal transformers
Zhiqi Li, Wenhai Wang, Hongyang Li, Enze Xie, Chonghao Sima, Tong Lu, Qiao Yu, and Jifeng Dai · 2022
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Panoptic segformer: Delving deeper into panoptic segmentation with transformers
Zhiqi Li, Wenhai Wang, Enze Xie, Zhiding Yu, Anima Anandkumar, Jose M Alvarez, Ping Luo, and Tong Lu · 2022
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BEVFusion: A simple and robust lidar-camera fusion framework
Tingting Liang, Hongwei Xie, Kaicheng Yu, Zhongyu Xia, Zhiwei Lin, Yongtao Wang, Tao Tang, Bing Wang, and Zhi Tang · 2022
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Effective adaptation in multi-task co-training for unified autonomous driving
Xiwen Liang, Yangxin Wu, Jianhua Han, Hang Xu, Chunjing Xu, and Xiaodan Liang · 2022
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Mobileye under the hood
Mobileye · 2022
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Wayformer: Motion forecasting via simple & efficient attention networks
Nigamaa Nayakanti, Rami Al-Rfou, Aurick Zhou, Kratarth Goel, Khaled S Refaat, and Benjamin Sapp · 2022
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Scene transformer: A unified multi-task model for behavior prediction and planning
Jiquan Ngiam, Benjamin Caine, Vijay Vasudevan, Zhengdong Zhang, Hao-Tien Lewis Chiang, Jeffrey Ling, Rebecca Roelofs, Alex Bewley, Chenxi Liu, Ashish Venugopal, David Weiss, Ben Sapp, Zhifeng Chen, and Jonathon Shlens · 2022
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NVIDIA DRIVE End-to-End Solutions for Autonomous Vehicles
Nvidia · 2022
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Time will tell: New outlooks and a baseline for temporal multi-view 3d object detection
Jinhyung Park, Chenfeng Xu, Shijia Yang, Kurt Keutzer, Kris Kitani, Masayoshi Tomizuka, and Wei Zhan · 2022
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Forecasting from lidar via future object detection
Neehar Peri, Jonathon Luiten, Mengtian Li, Aljoša Ošep, Laura Leal-Taixé, and Deva Ramanan · 2022
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Scott Reed, Konrad Zolna, Emilio Parisotto, Sergio Gomez Colmenarejo, Alexander Novikov, Gabriel Barth-Maron, Mai Gimenez, Yury Sulsky, Jackie Kay, Jost Tobias Springenberg, Tom Eccles, Jake Bruce, Ali Razavi, Ashley Edwards, Nicolas Heess, Yutian Chen, Raia Hadsell, Oriol Vinyals, Mahyar Bordbar, and Nando de Freitas · 2022
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Safety-enhanced autonomous driving using interpretable sensor fusion transformer
Hao Shao, Letian Wang, Ruobing Chen, Hongsheng Li, and Yu Liu · 2022
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Motion transformer with global intention localization and local movement refinement
Shaoshuai Shi, Li Jiang, Dengxin Dai, and Bernt Schiele · 2022
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Srcn3d: Sparse r-cnn 3d surround-view camera object detection and tracking for autonomous driving
Yining Shi, Jingyan Shen, Yifan Sun, Yunlong Wang, Jiaxin Li, Shiqi Sun, Kun Jiang, and Diange Yang · 2022
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Tesla AI Day
Tesla · 2022
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Ofa: Unifying architectures, tasks, and modalities through a simple sequence-to-sequence learning framework
Peng Wang, An Yang, Rui Men, Junyang Lin, Shuai Bai, Zhikang Li, Jianxin Ma, Chang Zhou, Jingren Zhou, and Hongxia Yang · 2022
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Trajectory-guided control prediction for end-to-end autonomous driving: A simple yet strong baseline
Penghao Wu, Xiaosong Jia, Li Chen, Junchi Yan, Hongyang Li, and Yu Qiao · 2022
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Quality matters: Embracing quality clues for robust 3d multi-object tracking
Jinrong Yang, En Yu, Zeming Li, Xiaoping Li, and Wenbing Tao · 2022
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MUTR3D: A Multi-camera Tracking Framework via 3D-to-2D Queries
Tianyuan Zhang, Xuanyao Chen, Yue Wang, Yilun Wang, and Hang Zhao · 2022
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BEVerse: Unified perception and prediction in birds-eye-view for vision-centric autonomous driving
Yunpeng Zhang, Zheng Zhu, Wenzhao Zheng, Junjie Huang, Guan Huang, Jie Zhou, and Jiwen Lu · 2022
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Uni-perceiver-moe: Learning sparse generalist models with conditional moes
Jinguo Zhu, Xizhou Zhu, Wenhai Wang, Xiaohua Wang, Hongsheng Li, Xiaogang Wang, and Jifeng Dai · 2022
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ViP3D: End-to-end visual trajectory prediction via 3d agent queries
Junru Gu, Chenxu Hu, Tianyuan Zhang, Xuanyao Chen, Yilun Wang, Yue Wang, and Hang Zhao · 2023
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Exploring recurrent long-term temporal fusion for multi-view 3d perception
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Mask dino: Towards a unified transformer-based framework for object detection and segmentation
Feng Li, Hao Zhang, Shilong Liu, Lei Zhang, Lionel M Ni, and Heung-Yeung Shum · 2023
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BEVFusion: Multi-task multi-sensor fusion with unified bird’s-eye view representation
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Policy pre-training for autonomous driving via self-supervised geometric modeling
Penghao Wu, Li Chen, Hongyang Li, Xiaosong Jia, Junchi Yan, and Yu Qiao · 2023
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