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Vision-Language-Action (VLA) models for autonomous driving show promise but falter in unstructured corner case scenarios, largely due to a scarcity of targeted benchmarks.
Vision meets robotics: The kitti dataset
Andreas Geiger, Philip Lenz, Christoph Stiller, and Raquel Urtasun · 2013
Earlier work this paper cites.
Lost and found: detecting small road hazards for self-driving vehicles
Peter Pinggera, Sebastian Ramos, Stefan Gehrig, Uwe Franke, Carsten Rother, and Rudolf Mester · 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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The mapillary vistas dataset for semantic understanding of street scenes
Gerhard Neuhold, Tobias Ollmann, Samuel Rota Bulo, and Peter Kontschieder · 2017
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Textual explanations for self-driving vehicles
Jinkyu Kim, Anna Rohrbach, Trevor Darrell, John Canny, and Zeynep Akata · 2018
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Fishyscapes: A benchmark for safe semantic segmentation in autonomous driving
Hermann Blum, Paul-Edouard Sarlin, Juan Nieto, Roland Siegwart, and Cesar Cadena · 2019
Earlier work this paper cites.
Argoverse: 3d tracking and forecasting with rich maps
Ming-Fang Chang, John Lambert, Patsorn Sangkloy, Jagjeet Singh, Slawomir Bak, Andrew Hartnett, De Wang, Peter Carr, Simon Lucey, Deva Ramanan, et al · 2019
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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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Talk2car: Taking control of your self-driving car
Thierry Deruyttere, Simon Vandenhende, Dusan Grujicic, Luc Van Gool, and Marie-Francine Moens · 2019
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Detecting the unexpected via image resynthesis
Krzysztof Lis, Krishna Nakka, Pascal Fua, and Mathieu Salzmann · 2019
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Idd: A dataset for exploring problems of autonomous navigation in unconstrained environments
Girish Varma, Anbumani Subramanian, Anoop Namboodiri, Manmohan Chandraker, and CV Jawahar · 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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Scalability in perception for autonomous driving: Waymo open dataset
Pei Sun, Henrik Kretzschmar, Xerxes Dotiwalla, Aurelien Chouard, Vijaysai Patnaik, Paul Tsui, James Guo, Yin Zhou, Yuning Chai, Benjamin Caine, et al · 2020
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Synthesize then compare: Detecting failures and anomalies for semantic segmentation
Yingda Xia, Yi Zhang, Fengze Liu, Wei Shen, and Alan L Yuille · 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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Pixel-wise anomaly detection in complex driving scenes
Giancarlo Di Biase, Hermann Blum, Roland Siegwart, and Cesar Cadena · 2021
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One million scenes for autonomous driving: Once dataset
Jiageng Mao, Minzhe Niu, Chenhan Jiang, Hanxue Liang, Jingheng Chen, Xiaodan Liang, Yamin Li, Chaoqiang Ye, Wei Zhang, Zhenguo Li, et al · 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
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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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Chain-of-thought prompting elicits reasoning in large language models
Jason Wei, Xuezhi Wang, Dale Schuurmans, Maarten Bosma, Fei Xia, Ed Chi, Quoc V Le, Denny Zhou, et al · 2022
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Josh Achiam, Steven Adler, Sandhini Agarwal, Lama Ahmad, Ilge Akkaya, Florencia Leoni Aleman, Diogo Almeida, Janko Altenschmidt, Sam Altman, Shyamal Anadkat, et al · 2023
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Qwen-vl: A frontier large vision-language model with versatile abilities
Jinze Bai, Shuai Bai, Shusheng Yang, Shijie Wang, Sinan Tan, Peng Wang, Junyang Lin, Chang Zhou, and Jingren Zhou · 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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Idd-3d: Indian driving dataset for 3d unstructured road scenes
Shubham Dokania, AH Hafez, Anbumani Subramanian, Manmohan Chandraker, and CV Jawahar · 2023
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Planning-oriented autonomous driving
Yihan Hu, Jiazhi Yang, Li Chen, Keyu Li, Chonghao Sima, Xizhou Zhu, Siqi Chai, Senyao Du, Tianwei Lin, Wenhai Wang, et al · 2023
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Driveadapter: Breaking the coupling barrier of perception and planning in end-to-end autonomous driving
Xiaosong Jia, Yulu Gao, Li Chen, Junchi Yan, Patrick Langechuan Liu, and Hongyang Li · 2023
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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
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Adapt: Action-aware driving caption transformer
Bu Jin, Xinyu Liu, Yupeng Zheng, Pengfei Li, Hao Zhao, Tong Zhang, Yuhang Zheng, Guyue Zhou, and Jingjing Liu · 2023
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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.
Drivelm: Driving with graph visual question answering
Chonghao Sima, Katrin Renz, Kashyap Chitta, Li Chen, Hanxue Zhang, Chengen Xie, Ping Luo, Andreas Geiger, and Hongyang Li · 2023
Cited alongside, same era.
Unsupervised road anomaly detection with language anchors
Beiwen Tian, Mingdao Liu, Huan-ang Gao, Pengfei Li, Hao Zhao, and Guyue Zhou · 2023
Cited alongside, same era.
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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Reason2drive: Towards interpretable and chain-based reasoning for autonomous driving
Ming Nie, Renyuan Peng, Chunwei Wang, Xinyue Cai, Jianhua Han, Hang Xu, and Li Zhang · 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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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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Drivelm: Driving with graph visual question answering
Chonghao Sima, Katrin Renz, Kashyap Chitta, Li Chen, Hanxue Zhang, Chengen Xie, Jens Beißwenger, Ping Luo, Andreas Geiger, and Hongyang Li · 2024
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Weihan Wang, Qingsong Lv, Wenmeng Yu, Wenyi Hong, Ji Qi, Yan Wang, Junhui Ji, Zhuoyi Yang, Lei Zhao, Xixuan Song, et al · 2023
Cited alongside, same era.
Wenhai Wang, Jiangwei Xie, ChuanYang Hu, Haoming Zou, Jianan Fan, Wenwen Tong, Yang Wen, Silei Wu, Hanming Deng, Zhiqi Li, et al · 2023
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 · 2023
Cited alongside, same era.
Referring multi-object tracking
Dongming Wu, Wencheng Han, Tiancai Wang, Xingping Dong, Xiangyu Zhang, and Jianbing Shen · 2023
Cited alongside, same era.
Language prompt for autonomous driving
Dongming Wu, Wencheng Han, Tiancai Wang, Yingfei Liu, Xiangyu Zhang, and Jianbing Shen · 2023
Cited alongside, same era.
Mars: An instance-aware, modular and realistic simulator for autonomous driving
Zirui Wu, Tianyu Liu, Liyi Luo, Zhide Zhong, Jianteng Chen, Hongmin Xiao, Chao Hou, Haozhe Lou, Yuantao Chen, Runyi Yang, et al · 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.
Int2: Interactive trajectory prediction at intersections
Zhijie Yan, Pengfei Li, Zheng Fu, Shaocong Xu, Yongliang Shi, Xiaoxue Chen, Yuhang Zheng, Yang Li, Tianyu Liu, Chuxuan Li, et al · 2023
Cited alongside, same era.
Latency-aware road anomaly segmentation in videos: A photorealistic dataset and new metrics
Beiwen Tian, Huan-ang Gao, Leiyao Cui, Yupeng Zheng, Lan Luo, Baofeng Wang, Rong Zhi, Guyue Zhou, and Hao Zhao · 2024
Later among the works it cites.
Drivevlm: The convergence of autonomous driving and large vision-language models
Xiaoyu Tian, Junru Gu, Bailin Li, Yicheng Liu, Chenxu Hu, Yang Wang, Kun Zhan, Peng Jia, Xianpeng Lang, and Hang Zhao · 2024
Later among the works it cites.
He-drive: Human-like end-to-end driving with vision language models
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.
Shihao Wang, Zhiding Yu, Xiaohui Jiang, Shiyi Lan, Min Shi, Nadine Chang, Jan Kautz, Ying Li, and Jose M Alvarez · 2024
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Drivecot: Integrating chain-of-thought reasoning with end-to-end driving
Tianqi Wang, Enze Xie, Ruihang Chu, Zhenguo Li, and Ping Luo · 2024
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Editable scene simulation for autonomous driving via collaborative llm-agents
Yuxi Wei, Zi Wang, Yifan Lu, Chenxin Xu, Changxing Liu, Hao Zhao, Siheng Chen, and Yanfeng Wang · 2024
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Para-drive: Parallelized architecture for real-time autonomous driving
Yuxuan Weng, Zhenyu Wu, Yifei Ren, Yifan Zhang, Yifan Xu, Yifan Liu, Yifan Wang, Yifan Chen, Yifan Li, and Yifan Zhao · 2024
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Vlm-ad: End-to-end autonomous driving through vision-language model supervision
Yi Xu, Yuxin Hu, Zaiwei Zhang, Gregory P Meyer, Siva Karthik Mustikovela, Siddhartha Srinivasa, Eric M Wolff, and Xin Huang · 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, Feiyang Tan, Hangning Zhou, Ziyao Xu, Haotian Yao, Chi Zhang, Xiaojun Liu, Xiaoguang Di, and Bin Li · 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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Monoocc: Digging into monocular semantic occupancy prediction
Yupeng Zheng, Xiang Li, Pengfei Li, Yuhang Zheng, Bu Jin, Chengliang Zhong, Xiaoxiao Long, Hao Zhao, and Qichao Zhang · 2024
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Hints of prompt: Enhancing visual representation for multimodal llms in autonomous driving
Hao Zhou, Zhanning Gao, Maosheng Ye, Zhili Chen, Qifeng Chen, Tongyi Cao, and Honggang Qi · 2024
Later among the works it cites.
Embodied understanding of driving scenarios
Yunsong Zhou, Linyan Huang, Qingwen Bu, Jia Zeng, Tianyu Li, Hang Qiu, Hongzi Zhu, Minyi Guo, Yu Qiao, and Hongyang Li · 2024
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Shuai Bai, Keqin Chen, Xuejing Liu, Jialin Wang, Wenbin Ge, Sibo Song, Kai Dang, Peng Wang, Shijie Wang, Jun Tang, et al · 2025
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Shuai Bai, Keqin Chen, Xuejing Liu, Jialin Wang, Wenbin Ge, Sibo Song, Kai Dang, Peng Wang, Shijie Wang, Jun Tang, Humen Zhong, Yuanzhi Zhu, Mingkun Yang, Zhaohai Li, Jianqiang Wan, Pengfei Wang, Wei Ding, Zheren Fu, Yiheng Xu, Jiabo Ye, Xi Zhang, Tianbao Xie, Zesen Cheng, Hang Zhang, Zhibo Yang, Haiyang Xu, and Junyang Lin · 2025
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Avd2: Accident video diffusion for accident video description
Cheng Li, Keyuan Zhou, Tong Liu, Yu Wang, Mingqiao Zhuang, Huan-ang Gao, Bu Jin, and Hao Zhao · 2025
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Lightemma: Lightweight end-to-end multimodal model for autonomous driving
Zhijie Qiao, Haowei Li, Zhong Cao, and Henry X Liu · 2025
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Insightdrive: Insight scene representation for end-to-end autonomous driving
Ruiqi Song, Xianda Guo, Hangbin Wu, Qinggong Wei, and Long Chen · 2025
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Deepseek-vl2: Mixture-of-experts vision-language models for advanced multimodal understanding
Zhiyu Wu, Xiaokang Chen, Zizheng Pan, Xingchao Liu, Wen Liu, Damai Dai, Huazuo Gao, Yiyang Ma, Chengyue Wu, Bingxuan Wang, Zhenda Xie, Yu Wu, Kai Hu, Jiawei Wang, Yaofeng Sun, Yukun Li, Yishi Piao, Kang Guan, Aixin Liu, Xin Xie, Yuxiang You, Kai Dong, Xingkai Yu, Haowei Zhang, Liang Zhao, Yisong Wang, and Chong Ruan · 2025
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Shaoyuan Xie, Lingdong Kong, Yuhao Dong, Chonghao Sima, Wenwei Zhang, Qi Alfred Chen, Ziwei Liu, and Liang Pan · 2025
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Openemma: Open-source multimodal model for end-to-end autonomous driving
Shuo Xing, Chengyuan Qian, Yuping Wang, Hongyuan Hua, Kexin Tian, Yang Zhou, and Zhengzhong Tu · 2025
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Challenger: Affordable adversarial driving video generation
Zhiyuan Xu, Bohan Li, Huan-ang Gao, Mingju Gao, Yong Chen, Ming Liu, Chenxu Yan, Hang Zhao, Shuo Feng, and Hao Zhao · 2025
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An Yang, Baosong Yang, Binyuan Hui, Bo Zheng, Bowen Yu, Chang Zhou, Chengpeng Li, Chengyuan Li, Dayiheng Liu, Fei Huang, Guanting Dong, Haoran Wei, Huan Lin, Jialong Tang, Jialin Wang, Jian Yang, Jianhong Tu, Jianwei Zhang, Jianxin Ma, Jianxin Yang, Jin Xu, Jingren Zhou, Jinze Bai, Jinzheng He, Junyang Lin, Kai Dang, Keming Lu, Keqin Chen, Kexin Yang, Mei Li, Mingfeng Xue, Na Ni, Pei Zhang, Peng Wang, Ru Peng, Rui Men, Ruize Gao, Runji Lin, Shijie Wang, Shuai Bai, Sinan Tan, Tianhang Zhu, Tianhao Li, Tianyu Liu, Wenbin Ge, Xiaodong Deng, Xiaohuan Zhou, Xingzhang Ren, Xinyu Zhang, Xipin Wei, Xuancheng Ren, Xuejing Liu, Yang Fan, Yang Yao, Yichang Zhang, Yu Wan, Yunfei Chu, Yuqiong Liu, Zeyu Cui, Zhenru Zhang, Zhifang Guo, and Zhihao Fan · 2025
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Bridging past and future: End-to-end autonomous driving with historical prediction and planning
Bozhou Zhang, Nan Song, Xin Jin, and Li Zhang · 2025
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