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End-to-end autonomous driving unifies tasks in a differentiable framework, enabling planning-oriented optimization and attracting growing attention.
Congested traffic states in empirical observations and microscopic simulations
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Deep residual learning for image recognition
Kaiming He, Xiangyu Zhang, Shaoqing Ren, and Jian Sun · 2016
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Belief state planning for autonomously navigating urban intersections
Maxime Bouton, Akansel Cosgun, and Mykel J Kochenderfer · 2017
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Focal loss for dense object detection
Tsung-Yi Lin, Priya Goyal, Ross Girshick, Kaiming He, and Piotr Dollar · 2017
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Sgdr: Stochastic gradient descent with warm restarts
Ilya Loshchilov and Frank Hutter · 2017
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Attention is all you need
A Vaswani · 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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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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Decoupled weight decay regularization
I Loshchilov · 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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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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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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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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Large scale interactive motion forecasting for autonomous driving: The waymo open motion dataset
Scott Ettinger, Shuyang Cheng, Benjamin Caine, Chenxi Liu, Hang Zhao, Sabeek Pradhan, Yuning Chai, Ben Sapp, Charles R Qi, Yin Zhou, et al · 2021
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Belief state separated reinforcement learning for autonomous vehicle decision making under uncertainty
Ziqing Gu, Yujie Yang, Jingliang Duan, Shengbo Eben Li, Jianyu Chen, Wenhan Cao, and Sifa Zheng · 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.
Argoverse 2: Next generation datasets for self-driving perception and forecasting
Benjamin Wilson, William Qi, Tanmay Agarwal, John Lambert, Jagjeet Singh, Siddhesh Khandelwal, Bowen Pan, Ratnesh Kumar, Andrew Hartnett, Jhony Kaesemodel Pontes, et al · 2021
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Center-based 3d object detection and tracking
Tianwei Yin, Xingyi Zhou, and Philipp Krahenbuhl · 2021
Cited alongside, same era.
Deformable detr: Deformable transformers for end-to-end object detection
Xizhou Zhu, Weijie Su, Lewei Lu, Bin Li, Xiaogang Wang, and Jifeng Dai · 2021
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.
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 · 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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Bevformer v2: Adapting modern image backbones to bird’s-eye-view recognition via perspective supervision
Chenyu Yang, Yuntao Chen, Hao Tian, Chenxin Tao, Xizhou Zhu, Zhaoxiang Zhang, Gao Huang, Hongyang Li, Yu Qiao, Lewei Lu, et al · 2023
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Rethinking the open-loop evaluation of end-to-end autonomous driving in nuscenes
Jiang-Tian Zhai, Ze Feng, Jinhao Du, Yongqiang Mao, Jiang-Jiang Liu, Zichang Tan, Yifu Zhang, Xiaoqing Ye, and Jingdong Wang · 2023
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Query-centric trajectory prediction
Zikang Zhou, Jianping Wang, Yung-Hui Li, and Yu-Kai Huang · 2023
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Shengchao Hu, Li Chen, Penghao Wu, Hongyang Li, Junchi Yan, and Dacheng Tao · 2022
Cited alongside, same era.
Bevdet4d: Exploit temporal cues in multi-camera 3d object detection
Junjie Huang and Guan Huang · 2022
Cited alongside, same era.
Motion transformer with global intention localization and local movement refinement
Shaoshuai Shi, Li Jiang, Dengxin Dai, and Bernt Schiele · 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.
Motr: End-to-end multiple-object tracking with transformer
Fangao Zeng, Bin Dong, Yuang Zhang, Tiancai Wang, Xiangyu Zhang, and Yichen Wei · 2022
Cited alongside, same era.
Mutr3d: A multi-camera tracking framework via 3d-to-2d queries
Tianyuan Zhang, Xuanyao Chen, Yue Wang, Yilun Wang, and Hang Zhao · 2022
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.
Learning online belief prediction for efficient pomdp planning in autonomous driving
Zhiyu Huang, Chen Tang, Chen Lv, Masayoshi Tomizuka, and Wei Zhan · 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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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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Maptrv2: An end-to-end framework for online vectorized hd map construction
Bencheng Liao, Shaoyu Chen, Yunchi Zhang, Bo Jiang, Qian Zhang, Wenyu Liu, Chang Huang, and Xinggang Wang · 2024
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Neuroncap: Photorealistic closed-loop safety testing for autonomous driving
William Ljungbergh, Adam Tonderski, Joakim Johnander, Holger Caesar, Kalle Åström, Michael Felsberg, and Christoffer Petersson · 2024
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Mtr++: Multi-agent motion prediction with symmetric scene modeling and guided intention querying
Shaoshuai Shi, Li Jiang, Dengxin Dai, and Bernt Schiele · 2024
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Motion forecasting in continuous driving
Nan Song, Bozhou Zhang, Xiatian Zhu, and Li Zhang · 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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Hpnet: Dynamic trajectory forecasting with historical prediction attention
Xiaolong Tang, Meina Kan, Shiguang Shan, Zhilong Ji, Jinfeng Bai, and Xilin Chen · 2024
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Driving into the future: Multiview visual forecasting and planning with world model for autonomous driving
Yuqi Wang, Jiawei He, Lue Fan, Hongxin Li, Yuntao Chen, and Zhaoxiang Zhang · 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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Towards motion forecasting with real-world perception inputs: Are end-to-end approaches competitive?
Yihong Xu, Loïck Chambon, Éloi Zablocki, Mickaël Chen, Alexandre Alahi, Matthieu Cord, and Patrick Pérez · 2024
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