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Although end-to-end autonomous driving (E2E-AD) technologies have made significant progress in recent years, there remains an unsatisfactory performance on closed-loop evaluation.
Alvinn: An autonomous land vehicle in a neural network
Dean A Pomerleau · 1988
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Congested traffic states in empirical observations and microscopic simulations
Martin Treiber, Ansgar Hennecke, and Dirk Helbing · 2000
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Trajectory planning for bertha—a local, continuous method
Julius Ziegler, Philipp Bender, Thao Dang, and Christoph Stiller · 2014
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Carla: An open urban driving simulator
Alexey Dosovitskiy, German Ros, Felipe Codevilla, Antonio López, and Vladlen Koltun · 2017
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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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Baidu apollo em motion planner
Haoyang Fan, Fan Zhu, Changchun Liu, Liangliang Zhang, Li Zhuang, Dong Li, Weicheng Zhu, Jiangtao Hu, Hongye Li, and Qi Kong · 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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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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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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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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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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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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Learning to drive from a world on rails
Dian Chen, Vladlen Koltun, and Philipp Krähenbühl · 2021
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Lookout: Diverse multi-future prediction and planning for self-driving
Alexander Cui, Sergio Casas, Abbas Sadat, Renjie Liao, and Raquel Urtasun · 2021
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Bevdet: High-performance multi-camera 3d object detection in bird-eye-view
Junjie Huang, Guan Huang, Zheng Zhu, Yun Ye, and Dalong Du · 2021
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Multi-modal fusion transformer for end-to-end autonomous driving
Aditya Prakash, Kashyap Chitta, and Andreas Geiger · 2021
Cited alongside, same era.
Detr3d: 3d object detection from multi-view images via 3d-to-2d queries
Yue Wang, Vitor Guizilini, Tianyuan Zhang, Yilun Wang, Hang Zhao, and Justin Solomon · 2021
Cited alongside, same era.
A rule-based behaviour planner for autonomous driving
Frédéric Bouchard, Sean Sedwards, and Krzysztof Czarnecki · 2022
Cited alongside, same era.
Maptr: Structured modeling and learning for online vectorized hd map construction
Bencheng Liao, Shaoyu Chen, Xinggang Wang, Tianheng Cheng, Qian Zhang, Wenyu Liu, and Chang Huang · 2022
Cited alongside, same era.
Sparse4d: Multi-view 3d object detection with sparse spatial-temporal fusion
Xuewu Lin, Tianwei Lin, Zixiang Pei, Lichao Huang, and Zhizhong Su · 2022
Cited alongside, same era.
Safe real-world autonomous driving by learning to predict and plan with a mixture of experts
Stefano Pini, Christian S Perone, Aayush Ahuja, Ana Sofia Rufino Ferreira, Moritz Niendorf, and Sergey Zagoruyko · 2023
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Exploring object-centric temporal modeling for efficient multi-view 3d object detection
Shihao Wang, Yingfei Liu, Tiancai Wang, Ying Li, and Xiangyu Zhang · 2023
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Rethinking the open-loop evaluation of end-to-end autonomous driving in nuscenes
Jiang-Tian Zhai, Ze Feng, Jihao Du, Yongqiang Mao, Jiang-Jiang Liu, Zichang Tan, Yifu Zhang, Xiaoqing Ye, and Jingdong Wang · 2023
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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 · 2024
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Is ego status all you need for open-loop end-to-end autonomous driving?
Zhiqi Li, Zhiding Yu, Shiyi Lan, Jiahan Li, Jan Kautz, Tong Lu, and Jose M Alvarez · 2024
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Petr: Position embedding transformation for multi-view 3d object detection
Yingfei Liu, Tiancai Wang, Xiangyu Zhang, and Jian Sun · 2022
Cited alongside, same era.
Safety-enhanced autonomous driving using interpretable sensor fusion transformer
Hao Shao, Letian Wang, RuoBing Chen, Hongsheng Li, and Yu Liu · 2022
Cited alongside, same era.
Path planning optimization of intelligent vehicle based on improved genetic and ant colony hybrid algorithm
Kangjing Shi, Li Huang, Du Jiang, Ying Sun, Xiliang Tong, Yuanming Xie, and Zifan Fang · 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.
Gri: General reinforced imitation and its application to vision-based autonomous driving
Raphael Chekroun, Marin Toromanoff, Sascha Hornauer, and Fabien Moutarde · 2023
Cited alongside, same era.
Parting with misconceptions about learning-based vehicle motion planning
Daniel Dauner, Marcel Hallgarten, Andreas Geiger, and Kashyap Chitta · 2023
Cited alongside, same era.
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
Cited alongside, same era.
Later among the works it cites.
Vlp: Vision language planning for autonomous driving
Chenbin Pan, Burhaneddin Yaman, Tommaso Nesti, Abhirup Mallik, Alessandro G Allievi, Senem Velipasalar, and Liu Ren · 2024
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Carllava: Vision language models for camera-only closed-loop driving
Katrin Renz, Long Chen, Ana-Maria Marcu, Jan Hünermann, Benoit Hanotte, Alice Karnsund, Jamie Shotton, Elahe Arani, and Oleg Sinavski · 2024
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Lmdrive: Closed-loop end-to-end driving with large language models
Hao Shao, Yuxuan Hu, Letian Wang, Guanglu Song, Steven L Waslander, Yu Liu, and Hongsheng Li · 2024
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Haisheng Su, Wei Wu, and Junchi Yan · 2024
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Sparsedrive: End-to-end autonomous driving via sparse scene representation
Wenchao Sun, Xuewu Lin, Yining Shi, Chuang Zhang, Haoran Wu, and Sifa Zheng · 2024
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Para-drive: Parallelized architecture for real-time autonomous driving
Xinshuo Weng, Boris Ivanovic, Yan Wang, Yue Wang, and Marco Pavone · 2024
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Streammapnet: Streaming mapping network for vectorized online hd map construction
Tianyuan Yuan, Yicheng Liu, Yue Wang, Yilun Wang, and Hang Zhao · 2024
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Sparsead: Sparse query-centric paradigm for efficient end-to-end autonomous driving
Diankun Zhang, Guoan Wang, Runwen Zhu, Jianbo Zhao, Xiwu Chen, Siyu Zhang, Jiahao Gong, Qibin Zhou, Wenyuan Zhang, Ningzi Wang, et al · 2024
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Genad: Generative end-to-end autonomous driving
Wenzhao Zheng, Ruiqi Song, Xianda Guo, Chenming Zhang, and Long Chen · 2024
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Drivetransformer: Unified transformer for scalable end-to-end autonomous driving
Xiaosong Jia, Junqi You, Zhiyuan Zhang, and Junchi Yan · 2025
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Diffusiondrive: Truncated diffusion model for end-to-end autonomous driving
Bencheng Liao, Shaoyu Chen, Haoran Yin, Bo Jiang, Cheng Wang, Sixu Yan, Xinbang Zhang, Xiangyu Li, Ying Zhang, Qian Zhang, et al · 2025
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Leveraging enhanced queries of point sets for vectorized map construction
Zihao Liu, Xiaoyu Zhang, Guangwei Liu, Ji Zhao, and Ningyi Xu · 2025
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