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End-to-end autonomous driving research currently faces a critical challenge in bridging the gap between open-loop training and closed-loop deployment.
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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Vehicle dynamics and control
Rajesh Rajamani · 2011
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Model Predictive Control
Eduardo F. Camacho and Carlos Bordons Alba · 2013
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Control-limited differential dynamic programming
Yuval Tassa, Nicolas Mansard, and Emo Todorov · 2014
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Deep residual learning for image recognition
Kaiming He, Xiangyu Zhang, Shaoqing Ren, and Jian Sun · 2016
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Sgdr: Stochastic gradient descent with warm restarts
Ilya Loshchilov and Frank Hutter · 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
T Lin · 2017
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Decoupled weight decay regularization
I Loshchilov · 2017
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The kinematic bicycle model: A consistent model for planning feasible trajectories for autonomous vehicles?
Philip Polack, Florent Altché, Brigitte d’Andréa Novel, and Arnaud de La Fortelle · 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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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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Denoising diffusion probabilistic models
Jonathan Ho, Ajay Jain, and Pieter Abbeel · 2020
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Sim2real predictivity: Does evaluation in simulation predict real-world performance?
Abhishek Kadian, Joanne Truong, Aaron Gokaslan, Alexander Clegg, Erik Wijmans, Stefan Lee, Manolis Savva, Sonia Chernova, and Dhruv Batra · 2020
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Covernet: Multimodal behavior prediction using trajectory sets
Tung Phan-Minh, Elena Corina Grigore, Freddy A Boulton, Oscar Beijbom, and Eric M Wolff · 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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Denoising diffusion implicit models
Jiaming Song, Chenlin Meng, and Stefano Ermon · 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
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Sim2real in robotics and automation: Applications and challenges
Sebastian Höfer, Kostas Bekris, Ankur Handa, Juan Camilo Gamboa, Melissa Mozifian, Florian Golemo, Chris Atkeson, Dieter Fox, Ken Goldberg, John Leonard, et al · 2021
Wenhai Wang, Jiangwei Xie, ChuanYang Hu, Haoming Zou, Jianan Fan, Wenwen Tong, Yang Wen, Silei Wu, Hanming Deng, Zhiqi Li, et al · 2023
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Chaineddiffuser: Unifying trajectory diffusion and keypose prediction for robotic manipulation
Zhou Xian, Nikolaos Gkanatsios, Theophile Gervet, Tsung-Wei Ke, and Katerina Fragkiadaki · 2023
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PDM-Lite: A rule-based planner for carla leaderboard 2.0
Jens Beißwenger · 2024
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Tri Dao and Albert Gu · 2024
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Navsim: Data-driven non-reactive autonomous vehicle simulation and benchmarking
Daniel Dauner, Marcel Hallgarten, Tianyu Li, Xinshuo Weng, Zhiyu Huang, Zetong Yang, Hongyang Li, Igor Gilitschenski, Boris Ivanovic, Marco Pavone, Andreas Geiger, and Kashyap Chitta · 2024
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Cited alongside, same era.
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.
https://leaderboard.carla.org/ , 2022
Carla: Carla autonomous driving leaderboard (2022) · 2022
Cited alongside, same era.
Transfuser: Imitation with transformer-based sensor fusion for autonomous driving
Kashyap Chitta, Aditya Prakash, Bernhard Jaeger, Zehao Yu, Katrin Renz, and Andreas Geiger · 2022
Cited alongside, same era.
FlashAttention: Fast and memory-efficient exact attention with IO-awareness
Tri Dao, Daniel Y. Fu, Stefano Ermon, Atri Rudra, and Christopher Ré · 2022
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.
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.
Diffusion policy: Visuomotor policy learning via action diffusion
Cheng Chi, Zhenjia Xu, Siyuan Feng, Eric Cousineau, Yilun Du, Benjamin Burchfiel, Russ Tedrake, and Shuran Song · 2023
Cited alongside, same era.
Later among the works it cites.
Cardreamer: Open-source learning platform for world model based autonomous driving
Dechen Gao, Shuangyu Cai, Hanchu Zhou, Hang Wang, Iman Soltani, and Junshan Zhang · 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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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 · 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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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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Diffusion-based environment-aware trajectory prediction
Theodor Westny, Björn Olofsson, and Erik Frisk · 2024
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Brian Yang, Huangyuan Su, Nikolaos Gkanatsios, Tsung-Wei Ke, Ayush Jain, Jeff Schneider, and Katerina Fragkiadaki · 2024
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Drama: An efficient end-to-end motion planner for autonomous driving with mamba
Chengran Yuan, Zhanqi Zhang, Jiawei Sun, Shuo Sun, Zefan Huang, Christina Dao Wen Lee, Dongen Li, Yuhang Han, Anthony Wong, Keng Peng Tee, et al · 2024
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Simlingo: Vision-only closed-loop autonomous driving with language-action alignment
Katrin Renz, Long Chen, Elahe Arani, and Oleg Sinavski · 2025
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