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End-to-end autonomous driving frameworks enable seamless integration of perception and planning but often rely on one-shot trajectory prediction, which may lead to unstable control and vulnerability to occlusions in single-frame perception.
Deep residual learning for image recognition
Kaiming He, Xiangyu Zhang, Shaoqing Ren, and Jian Sun · 2016
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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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End-to-end driving via conditional imitation learning
Felipe Codevilla, Matthias Müller, Antonio López, Vladlen Koltun, and Alexey Dosovitskiy · 2018
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Focal loss for dense object detection, 2018
Tsung-Yi Lin, Priya Goyal, Ross Girshick, Kaiming He, and Piotr Dollár · 2018
Earlier work this paper cites.
Exploring the limitations of behavior cloning for autonomous driving
Felipe Codevilla, Eder Santana, Antonio M. Lopez, and Adrien Gaidon · 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
Earlier work this paper cites.
Survey of deep reinforcement learning for motion planning of autonomous vehicles
Szilárd Aradi · 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
Earlier work this paper cites.
A review of motion planning for highway autonomous driving
Laurène Claussmann, Marc Revilloud, Dominique Gruyer, and Sébastien Glaser · 2020
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Safe local motion planning with self-supervised freespace forecasting
Peiyun Hu, Aaron Huang, John Dolan, David Held, and Deva Ramanan · 2021
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Large-momentum effective theory
Xiangdong Ji, Yizhuang Liu, Yu-Sheng Liu, Jian-Hui Zhang, and Yong Zhao · 2021
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Multi-modal fusion transformer for end-to-end autonomous driving
Aditya Prakash, Kashyap Chitta, and Andreas Geiger · 2021
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End-to-end urban driving by imitating a reinforcement learning coach
Zhejun Zhang, Alexander Liniger, Dengxin Dai, Fisher Yu, and Luc Van Gool · 2021
Cited alongside, same era.
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
Cited alongside, same era.
Perceive, interact, predict: Learning dynamic and static clues for end-to-end motion prediction
Bo Jiang, Shaoyu Chen, Xinggang Wang, Bencheng Liao, Tianheng Cheng, Jiajie Chen, Helong Zhou, Qian Zhang, Wenyu Liu, and Chang Huang · 2022
Cited alongside, same era.
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
Cited alongside, same era.
Benchmarking robustness of 3d object detection to common corruptions
Yinpeng Dong, Caixin Kang, Jinlai Zhang, Zijian Zhu, Yikai Wang, Xiao Yang, Hang Su, Xingxing Wei, and Jun Zhu · 2023
End-to-end autonomous driving without costly modularization and 3d manual annotation
Mingzhe Guo, Zhipeng Zhang, Yuan He, Ke Wang, and Liping Jing · 2024
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Senna: Bridging large vision-language models and end-to-end autonomous driving, 2024
Bo Jiang, Shaoyu Chen, Bencheng Liao, Xingyu Zhang, Wei Yin, Qian Zhang, Chang Huang, Wenyu Liu, and Xinggang Wang · 2024
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Robustness-aware 3d object detection in autonomous driving: A review and outlook
Ziying Song, Lin Liu, Feiyang Jia, Yadan Luo, Caiyan Jia, Guoxin Zhang, Lei Yang, and Li Wang · 2024
Later among the works it cites.
Haisheng Su, Wei Wu, and Junchi Yan · 2024
Later among the works it cites.
Sparsedrive: End-to-end autonomous driving via sparse scene representation
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Cited alongside, same era.
Planning-oriented autonomous driving
Yihan Hu, Jiazhi Yang, Li Chen, Keyu Li, Chonghao Sima, Xizhou Zhu, Siqi Chai, Senyao Du, Tianwei Lin, Wenhai Wang, Lewei Lu, Xiaosong Jia, Qiang Liu, Jifeng Dai, Yu Qiao, and Hongyang Li · 2023
Cited alongside, same era.
Vad: Vectorized scene representation for efficient autonomous driving
Bo Jiang, Shaoyu Chen, Qing Xu, Bencheng Liao, Jiajie Chen, Helong Zhou, Qian Zhang, Wenyu Liu, Chang Huang, and Xinggang Wang · 2023
Cited alongside, same era.
Gpt-driver: Learning to drive with gpt
Jiageng Mao, Yuxi Qian, Junjie Ye, Hang Zhao, and Yue Wang · 2023
Cited alongside, same era.
Multi-modal 3d object detection in autonomous driving: A survey and taxonomy
Li Wang, Xinyu Zhang, Ziying Song, Jiangfeng Bi, Guoxin Zhang, Haiyue Wei, Liyao Tang, Lei Yang, Jun Li, Caiyan Jia, et al · 2023
Cited alongside, same era.
Fusionad: Multi-modality fusion for prediction and planning tasks of autonomous driving, 2023
Tengju Ye, Wei Jing, Chunyong Hu, Shikun Huang, Lingping Gao, Fangzhen Li, Jingke Wang, Ke Guo, Wencong Xiao, Weibo Mao, Hang Zheng, Kun Li, Junbo Chen, and Kaicheng Yu · 2023
Cited alongside, same era.
Rethinking imitation-based planners for autonomous driving
Jie Cheng, Yingbing Chen, Xiaodong Mei, Bowen Yang, Bo Li, and Ming Liu · 2024
Cited alongside, same era.
Dualad: Disentangling the dynamic and static world for end-to-end driving
Simon Doll, Niklas Hanselmann, Lukas Schneider, Richard Schulz, Marius Cordts, Markus Enzweiler, and Hendrik Lensch · 2024
Cited alongside, same era.
Wenchao Sun, Xuewu Lin, Yining Shi, Chuang Zhang, Haoran Wu, and Sifa Zheng · 2024
Later among the works it cites.
He-drive: Human-like end-to-end driving with vision language models, 2024
Junming Wang, Xingyu Zhang, Zebin Xing, Songen Gu, Xiaoyang Guo, Yang Hu, Ziying Song, Qian Zhang, Xiaoxiao Long, and Wei Yin · 2024
Later among the works it cites.
Deepinteraction++: Multi-modality interaction for autonomous driving
Zeyu Yang, Nan Song, Wei Li, Xiatian Zhu, Li Zhang, and Philip HS Torr · 2024
Later among the works it cites.
Graphad: Interaction scene graph for end-to-end autonomous driving
Yunpeng Zhang, Deheng Qian, Ding Li, Yifeng Pan, Yong Chen, Zhenbao Liang, Zhiyao Zhang, Shurui Zhang, Hongxu Li, Maolei Fu, et al · 2024
Later among the works it cites.
Genad: Generative end-to-end autonomous driving
Wenzhao Zheng, Ruiqi Song, Xianda Guo, and Long Chen · 2024
Later among the works it cites.
Ppad: Iterative interactions of prediction and planning for end-to-end autonomous driving
Zhili Chen, Maosheng Ye, Shuangjie Xu, Tongyi Cao, and Qifeng Chen · 2025
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Bench2drive: Towards multi-ability benchmarking of closed-loop end-to-end autonomous driving
Xiaosong Jia, Zhenjie Yang, Qifeng Li, Zhiyuan Zhang, and Junchi Yan · 2025
Closest in time.