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Integrating large language models (LLMs) into autonomous driving has attracted significant attention with the hope of improving generalization and explainability.
Congested traffic states in empirical observations and microscopic simulations
Martin Treiber, Ansgar Hennecke, and Dirk Helbing · 2000
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METEOR: An automatic metric for MT evaluation with high levels of correlation with human judgments
Alon Lavie and Abhaya Agarwal · 2007
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Imagenet: A large-scale hierarchical image database
Jia Deng, Wei Dong, Richard Socher, Li jia Li, Kai Li, and Li Fei-fei · 2009
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Cider: Consensus-based image description evaluation
Ramakrishna Vedantam, C Lawrence Zitnick, and Devi Parikh · 2015
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Spice: Semantic propositional image caption evaluation
Peter Anderson, Basura Fernando, Mark Johnson, and Stephen Gould · 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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Real-time single image and video super-resolution using an efficient sub-pixel convolutional neural network
Wenzhe Shi, Jose Caballero, Ferenc Huszar, Johannes Totz, Andrew P. Aitken, Rob Bishop, Daniel Rueckert, and Zehan Wang · 2016
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Carla: An open urban driving simulator, 2017
Alexey Dosovitskiy, German Ros, Felipe Codevilla, Antonio Lopez, and Vladlen Koltun · 2017
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Decoupled weight decay regularization
Ilya Loshchilov and Frank Hutter · 2019
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Tesla autopilot
Tesla · 2019
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https://leaderboard.carla.org/#leaderboard-10 , 2020
Carla autonomous driving leaderboard · 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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LoRA: Low-rank adaptation of large language models
Edward J. Hu, Yelong Shen, Phillip Wallis, Zeyuan Allen-Zhu, Yuanzhi Li, Shean Wang, Lu Wang, and Weizhu Chen · 2021
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Learning transferable visual models from natural language supervision
Alec Radford, Jong Wook Kim, Chris Hallacy, Aditya Ramesh, Gabriel Goh, Sandhini Agarwal, Girish Sastry, Amanda Askell, Pamela Mishkin, Jack Clark, et al · 2021
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Learning from all vehicles
Dian Chen and Philipp Krähenbühl · 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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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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Trajectory-guided control prediction for end-to-end autonomous driving: A simple yet strong baseline
Peng Wu, Xiaosong Jia, Li Chen, Junchi Yan, Hongyang Li, and Yu Qiao · 2022
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https://leaderboard.carla.org/ , 2023
Carla autonomous driving leaderboard 2.0 · 2023
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Driving with LLMs: fusing object-level vector modality for explainable autonomous driving
Long Chen, Oleg Sinavski, Jan Hünermann, Alice Karnsund, Andrew James Willmott, Danny Birch, Daniel Maund, and Jamie Shotton · 2023
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Transfuser: Imitation with transformer-based sensor fusion for autonomous driving
Kashyap Chitta, Aditya Prakash, Bernhard Jaeger, Zehao Yu, Katrin Renz, and Andreas Geiger · 2023
Cited alongside, same era.
Qlora: Efficient finetuning of quantized llms
Tim Dettmers, Artidoro Pagnoni, Ari Holtzman, and Luke Zettlemoyer · 2023
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, et al · 2023
Cited alongside, same era.
Hidden biases of end-to-end driving models
Bernhard Jaeger, Kashyap Chitta, and Andreas Geiger · 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.
Visual instruction tuning
Haotian Liu, Chunyuan Li, Qingyang Wu, and Yong Jae Lee · 2023
Emma: End-to-end multimodal model for autonomous driving
Jyh-Jing Hwang, Runsheng Xu, Hubert Lin, Wei-Chih Hung, Jingwei Ji, Kristy Choi, Di Huang, Tong He, Paul Covington, Benjamin Sapp, Yin Zhou, James Guo, Dragomir Anguelov, and Mingxing Tan · 2024
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Common Mistakes in Benchmarking Autonomous Driving
Bernhard Jaeger, Kashyap Chitta, Daniel Dauner, Katrin Renz, and Andreas Geiger · 2024
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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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Openvla: An open-source vision-language-action model
Moo Jin Kim, Karl Pertsch, Siddharth Karamcheti, Ted Xiao, Ashwin Balakrishna, Suraj Nair, Rafael Rafailov, Ethan Foster, Grace Lam, Pannag Sanketi, Quan Vuong, Thomas Kollar, Benjamin Burchfiel, Russ Tedrake, Dorsa Sadigh, Sergey Levine, Percy Liang, and Chelsea Finn · 2024
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Think2drive: Efficient reinforcement learning by thinking in latent world model for quasi-realistic autonomous driving (in carla-v2)
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Cited alongside, same era.
GPT-Driver: Learning to drive with gpt
Jiageng Mao, Yuxi Qian, Hang Zhao, and Yue Wang · 2023
Cited alongside, same era.
LanguageMPC: Large language models as decision makers for autonomous driving
Hao Sha, Yao Mu, Yuxuan Jiang, Li Chen, Chenfeng Xu, Ping Luo, Shengbo Eben Li, Masayoshi Tomizuka, Wei Zhan, and Mingyu Ding · 2023
Cited alongside, same era.
Reasonnet: End-to-end driving with temporal and global reasoning
Hao Shao, Letian Wang, Ruobing Chen, Steven L. Waslander, Hongsheng Li, and Yu Liu · 2023
Cited alongside, same era.
DriveMLM: aligning multi-modal large language models with behavioral planning states for autonomous driving
Wenhai Wang, Jiangwei Xie, ChuanYang Hu, Haoming Zou, Jianan Fan, Wenwen Tong, Yang Wen, Silei Wu, Hanming Deng, Zhiqi Li, Hao Tian, Lewei Lu, Xizhou Zhu, Xiaogang Wang, Yu Qiao, and Jifeng Dai · 2023
Cited alongside, same era.
DriveGPT4: Interpretable end-to-end autonomous driving via large language model
Zhenhua Xu, Yujia Zhang, Enze Xie, Zhen Zhao, Yong Guo, Kenneth KY Wong, Zhenguo Li, and Hengshuang Zhao · 2023
Cited alongside, same era.
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
Cited alongside, same era.
Qifeng Li, Xiaosong Jia, Shaobo Wang, and Junchi Yan · 2024
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Llava-next: Improved reasoning, ocr, and world knowledge, 2024
Haotian Liu, Chunyuan Li, Yuheng Li, Bo Li, Yuanhan Zhang, Sheng Shen, and Yong Jae Lee · 2024
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Can LVLMs obtain a drivers license? a benchmark towards reliable AGI for autonomous driving
Yuhang Lu, Yichen Yao, Jiadong Tu, Jiangnan Shao, Yuexin Ma, and Xinge Zhu · 2024
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A language agent for autonomous driving
Jiageng Mao, Junjie Ye, Yuxi Qian, Marco Pavone, and Yue Wang · 2024
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LingoQA: video question answering for autonomous driving
Ana-Maria Marcu, Long Chen, Jan Hünermann, Alice Karnsund, Benoit Hanotte, Prajwal Chidananda, Saurabh Nair, Vijay Badrinarayanan, Alex Kendall, Jamie Shotton, Elahe Arani, and Oleg Sinavski · 2024
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NuScenes-QA: A multi-modal visual question answering benchmark for autonomous driving scenario
Tianwen Qian, Jingjing Chen, Linhai Zhuo, Yang Jiao, and Yu-Gang Jiang · 2024
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A hybrid autonomous driving navigation architecture for the 2024 carla autonomous driving challenge
Luis Alberto Rosero, Iago Pachˆeco Gomes, Ana Huaman Reyna, Victor Hugo Sillerico Justo, Vinicius Gustierrez Neves, Denis Fernando Wolf, and Fernando Santos Os orio · 2024
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Lmdrive: Closed-loop end-to-end driving with large language models
Hao Shao, Yuxuan Hu, Letian Wang, Steven L. Waslander, Yu Liu, and Hongsheng Li · 2024
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DriveLM: driving with graph visual question answering
Chonghao Sima, Katrin Renz, Kashyap Chitta, Li Chen, Zhang Hanxue, Chengen Xie, Jens Beißwenger, Ping Luo, Andreas Geiger, and Hongyang Li · 2024
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DriveVLM: the convergence of autonomous driving and large vision-language models
Xiaoyu Tian, Junru Gu, Bailin Li, Yicheng Liu, Yang Wang, Zhiyong Zhao, Kun Zhan, Peng Jia, Xianpeng Lang, and Hang Zhao · 2024
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DiLu: a knowledge-driven approach to autonomous driving with large language models
Licheng Wen, Daocheng Fu, Xin Li, Xinyu Cai, Tao MA, Pinlong Cai, Min Dou, Botian Shi, Liang He, and Yu Qiao · 2024
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Feedback-guided autonomous driving
Jimuyang Zhang, Zanming Huang, Arijit Ray, and Eshed Ohn-Bar · 2024
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Tackling carla leaderboard 2.0 with end-to-end imitation learning
Julian Zimmerlin · 2024
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Hidden biases of end-to-end driving datasets
Julian Zimmerlin, Jens Beißwenger, Bernhard Jaeger, Andreas Geiger, and Kashyap Chitta · 2024
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A comprehensive evaluation of four end-to-end ai autopilots using cctest and the carla leaderboard
Changwen Li, Joseph Sifakis, Rongjie Yan, and Jian Zhang · 2025
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