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End-to-end multi-modal planning is a promising paradigm in autonomous driving, enabling decision-making with diverse trajectory candidates.
Attention is all you need
Ashish Vaswani, Noam Shazeer, Niki Parmar, Jakob Uszkoreit, Llion Jones, Aidan N Gomez, Łukasz Kaiser, and Illia Polosukhin · 2017
Earlier work this paper cites.
An energy and gpu-computation efficient backbone network for real-time object detection
Youngwan Lee, Joong-won Hwang, Sangrok Lee, Yuseok Bae, and Jongyoul Park · 2019
Earlier work this paper cites.
An image is worth 16x16 words: Transformers for image recognition at scale
Alexey Dosovitskiy, Lucas Beyer, Alexander Kolesnikov, Dirk Weissenborn, Xiaohua Zhai, Thomas Unterthiner, Mostafa Dehghani, Matthias Minderer, Georg Heigold, Sylvain Gelly, et al · 2020
Earlier work this paper cites.
Denoising diffusion probabilistic models
Jonathan Ho, Ajay Jain, and Pieter Abbeel · 2020
Earlier work this paper cites.
Is pseudo-lidar needed for monocular 3d object detection?
Dennis Park, Rares Ambrus, Vitor Guizilini, Jie Li, and Adrien Gaidon · 2021
Earlier work this paper cites.
Transfuser: Imitation with transformer-based sensor fusion for autonomous driving
Kashyap Chitta, Aditya Prakash, Bernhard Jaeger, Zehao Yu, Katrin Renz, and Andreas Geiger · 2022
Earlier work this paper cites.
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
Earlier work this paper cites.
Parting with misconceptions about learning-based vehicle motion planning
Daniel Dauner, Marcel Hallgarten, Andreas Geiger, and Kashyap Chitta · 2023
Earlier work this paper cites.
Eva-02: A visual representation for neon genesis
Yuxin Fang, Quan Sun, Xinggang Wang, Tiejun Huang, Xinlong Wang, and Yue Cao · 2023
Earlier work this paper cites.
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
Cited alongside, same era.
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 · 2023
Cited alongside, same era.
Exploring object-centric temporal modeling for efficient multi-view 3d object detection
Shihao Wang, Yingfei Liu, Tiancai Wang, Ying Li, and Xiangyu Zhang · 2023
Cited alongside, same era.
Quad: Query-based interpretable neural motion planning for autonomous driving
Sourav Biswas, Sergio Casas, Quinlan Sykora, Ben Agro, Abbas Sadat, and Raquel Urtasun · 2024
Cited alongside, same era.
Vadv2: End-to-end vectorized autonomous driving via probabilistic planning
Shaoyu Chen, Bo Jiang, Hao Gao, Bencheng Liao, Qing Xu, Qian Zhang, Chang Huang, Wenyu Liu, and Xinggang Wang · 2024
Shihao Wang, Zhiding Yu, Xiaohui Jiang, Shiyi Lan, Min Shi, Nadine Chang, Jan Kautz, Ying Li, and Jose M Alvarez · 2024
Later among the works it cites.
Diffusion-based environment-aware trajectory prediction
Theodor Westny, Björn Olofsson, and Erik Frisk · 2024
Later among the works it cites.
Pseudo-simulation for autonomous driving
Wei Cao, Marcel Hallgarten, Tianyu Li, Daniel Dauner, Xunjiang Gu, Caojun Wang, Yakov Miron, Marco Aiello, Hongyang Li, Igor Gilitschenski, et al · 2025
Closest in time.
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
Closest in time.
Simlingo: Vision-only closed-loop autonomous driving with language-action alignment
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Cited alongside, same era.
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
Cited alongside, same era.
Hydra-mdp: End-to-end multimodal planning with multi-target hydra-distillation
Zhenxin Li, Kailin Li, Shihao Wang, Shiyi Lan, Zhiding Yu, Yishen Ji, Zhiqi Li, Ziyue Zhu, Jan Kautz, Zuxuan Wu, et al · 2024
Cited alongside, same era.
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
Cited alongside, same era.
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
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
Cited in the paper.
Motiondiffuser: Controllable multi-agent motion prediction using diffusion
Chiyu Jiang, Andre Cornman, Cheolho Park, Benjamin Sapp, Yin Zhou, Dragomir Anguelov, et al
Cited in the paper.
Finetuning generative trajectory model with reinforcement learning from human feedback
Derun Li, Jianwei Ren, Yue Wang, Xin Wen, Pengxiang Li, Leimeng Xu, Kun Zhan, Zhongpu Xia, Peng Jia, Xianpeng Lang, et al
Cited in the paper.
Katrin Renz, Long Chen, Elahe Arani, and Oleg Sinavski · 2025
Closest in time.
Centaur: Robust end-to-end autonomous driving with test-time training
Chonghao Sima, Kashyap Chitta, Zhiding Yu, Shiyi Lan, Ping Luo, Andreas Geiger, Hongyang Li, and Jose M Alvarez · 2025
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Yingqi Tang, Zhuoran Xu, Zhaotie Meng, and Erkang Cheng · 2025
Closest in time.
Goalflow: Goal-driven flow matching for multimodal trajectories generation in end-to-end autonomous driving
Zebin Xing, Xingyu Zhang, Yang Hu, Bo Jiang, Tong He, Qian Zhang, Xiaoxiao Long, and Wei Yin · 2025
Closest in time.
Diffusion-based planning for autonomous driving with flexible guidance
Yinan Zheng, Ruiming Liang, Kexin Zheng, Jinliang Zheng, Liyuan Mao, Jianxiong Li, Weihao Gu, Rui Ai, Shengbo Eben Li, Xianyuan Zhan, et al · 2025
Closest in time.