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Recent studies have explored leveraging the world knowledge and cognitive capabilities of Vision-Language Models (VLMs) to address the long-tail problem in end-to-end autonomous driving.
Simple statistical gradient-following algorithms for connectionist reinforcement learning
Ronald J Williams · 1992
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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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An algorithmic perspective on imitation learning
Takayuki Osa, Joni Pajarinen, Gerhard Neumann, J Andrew Bagnell, Pieter Abbeel, Jan Peters, et al · 2018
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Multipath: Multiple probabilistic anchor trajectory hypotheses for behavior prediction
Yuning Chai, Benjamin Sapp, Mayank Bansal, and Dragomir Anguelov · 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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Root mean square layer normalization
Biao Zhang and Rico Sennrich · 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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Denoising diffusion probabilistic models
Jonathan Ho, Ajay Jain, and Pieter Abbeel · 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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Glu variants improve transformer
Noam Shazeer · 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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Improved denoising diffusion probabilistic models
Alexander Quinn Nichol and Prafulla Dhariwal · 2021
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Sutd-trafficqa: A question answering benchmark and an efficient network for video reasoning over traffic events
Li Xu, He Huang, and Jun Liu · 2021
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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 · 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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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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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
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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
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Openscene: The largest up-to-date 3d occupancy prediction benchmark in autonomous driving
OpenScene Contributors · 2023
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Vip3d: End-to-end visual trajectory prediction via 3d agent queries
Junru Gu, Chenxu Hu, Tianyuan Zhang, Xuanyao Chen, Yilun Wang, Yue Wang, and Hang Zhao · 2023
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Mastering diverse domains through world models
Danijar Hafner, Jurgis Pasukonis, Jimmy Ba, and Timothy Lillicrap · 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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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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Visual instruction tuning
Haotian Liu, Chunyuan Li, Qingyang Wu, and Yong Jae Lee · 2023
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Drama: Joint risk localization and captioning in driving
Srikanth Malla, Chiho Choi, Isht Dwivedi, Joon Hee Choi, and Jiachen Li · 2023
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Scalable diffusion models with transformers
William Peebles and Saining Xie · 2023
Cited alongside, same era.
Sdxl: Improving latent diffusion models for high-resolution image synthesis
Dustin Podell, Zion English, Kyle Lacey, Andreas Blattmann, Tim Dockhorn, Jonas Müller, Joe Penna, and Robin Rombach · 2023
Cited alongside, same era.
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
Cited alongside, same era.
Fully sparse transformer 3-d detector for lidar point cloud
Diankun Zhang, Zhijie Zheng, Haoyu Niu, Xueqing Wang, and Xiaojun Liu · 2023
Cited alongside, same era.
Guided conditional diffusion for controllable traffic simulation
Ziyuan Zhong, Davis Rempe, Danfei Xu, Yuxiao Chen, Sushant Veer, Tong Che, Baishakhi Ray, and Marco Pavone · 2023
Cited alongside, same era.
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 · 2024
Later among the works it cites.
Drivegpt4: Interpretable end-to-end autonomous driving via large language model
Zhenhua Xu, Yujia Zhang, Enze Xie, Zhen Zhao, Yong Guo, Kwan-Yee K Wong, Zhenguo Li, and Hengshuang Zhao · 2024
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Diffusion-es: Gradient-free planning with diffusion for autonomous and instruction-guided driving
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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Marah Abdin, Jyoti Aneja, Harkirat Behl, Sébastien Bubeck, Ronen Eldan, Suriya Gunasekar, Michael Harrison, Russell J Hewett, Mojan Javaheripi, Piero Kauffmann, et al · 2024
Cited alongside, same era.
Is a 3d-tokenized llm the key to reliable autonomous driving?
Yifan Bai, Dongming Wu, Yingfei Liu, Fan Jia, Weixin Mao, Ziheng Zhang, Yucheng Zhao, Jianbing Shen, Xing Wei, Tiancai Wang, et al · 2024
Cited alongside, same era.
A vision-languageaction flow model for general robot control
Kevin Black, Noah Brown, Danny Driess, Adnan Esmail, Michael Equi, Chelsea Finn, Niccolo Fusai, Lachy Groom, Karol Hausman, Brian Ichter, et al · 2024
Cited alongside, same era.
Maplm: A real-world large-scale vision-language benchmark for map and traffic scene understanding
Xu Cao, Tong Zhou, Yunsheng Ma, Wenqian Ye, Can Cui, Kun Tang, Zhipeng Cao, Kaizhao Liang, Ziran Wang, James M Rehg, et al · 2024
Cited alongside, same era.
Holistic autonomous driving understanding by bird’s-eye-view injected multi-modal large models
Xinpeng Ding, Jianhua Han, Hang Xu, Xiaodan Liang, Wei Zhang, and Xiaomeng Li · 2024
Cited alongside, same era.
Aaron Hurst, Adam Lerer, Adam P Goucher, Adam Perelman, Aditya Ramesh, Aidan Clark, AJ Ostrow, Akila Welihinda, Alan Hayes, Alec Radford, et al · 2024
Cited alongside, same era.
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, et al · 2024
Cited alongside, same era.
Zangwei Zheng, Xiangyu Peng, Tianji Yang, Chenhui Shen, Shenggui Li, Hongxin Liu, Yukun Zhou, Tianyi Li, and Yang You · 2024
Later among the works it cites.
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
Closest in time.
Gr00t n1: An open foundation model for generalist humanoid robots
Johan Bjorck, Fernando Castañeda, Nikita Cherniadev, Xingye Da, Runyu Ding, Linxi Fan, Yu Fang, Dieter Fox, Fengyuan Hu, Spencer Huang, et al · 2025
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Sft memorizes, rl generalizes: A comparative study of foundation model post-training
Tianzhe Chu, Yuexiang Zhai, Jihan Yang, Shengbang Tong, Saining Xie, Dale Schuurmans, Quoc V Le, Sergey Levine, and Yi Ma · 2025
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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, et al · 2025
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Renju Feng, Ning Xi, Duanfeng Chu, Rukang Wang, Zejian Deng, Anzheng Wang, Liping Lu, Jinxiang Wang, and Yanjun Huang · 2025
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Haoyu Fu, Diankun Zhang, Zongchuang Zhao, Jianfeng Cui, Dingkang Liang, Chong Zhang, Dingyuan Zhang, Hongwei Xie, Bing Wang, and Xiang Bai · 2025
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Rad: Training an end-to-end driving policy via large-scale 3dgs-based reinforcement learning
Hao Gao, Shaoyu Chen, Bo Jiang, Bencheng Liao, Yiang Shi, Xiaoyang Guo, Yuechuan Pu, Haoran Yin, Xiangyu Li, Xinbang Zhang, et al · 2025
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Deepseek-r1: Incentivizing reasoning capability in llms via reinforcement learning
Daya Guo, Dejian Yang, Haowei Zhang, Junxiao Song, Ruoyu Zhang, Runxin Xu, Qihao Zhu, Shirong Ma, Peiyi Wang, Xiao Bi, et al · 2025
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Gen-drive: Enhancing diffusion generative driving policies with reward modeling and reinforcement learning fine-tuning
Zhiyu Huang, Xinshuo Weng, Maximilian Igl, Yuxiao Chen, Yulong Cao, Boris Ivanovic, Marco Pavone, and Chen Lv · 2025
Closest in time.
Drivetransformer: Unified transformer for scalable end-to-end autonomous driving
Xiaosong Jia, Junqi You, Zhiyuan Zhang, and Junchi Yan · 2025
Closest in time.
Bo Jiang, Shaoyu Chen, Qian Zhang, Wenyu Liu, and Xinggang Wang · 2025
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Reinforced refinement with self-aware expansion for end-to-end autonomous driving
Haochen Liu, Tianyu Li, Haohan Yang, Li Chen, Caojun Wang, Ke Guo, Haochen Tian, Hongchen Li, Hongyang Li, and Chen Lv · 2025
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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
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M 2 diffuser: Diffusion-based trajectory optimization for mobile manipulation in 3d scenes
Sixu Yan, Zeyu Zhang, Muzhi Han, Zaijin Wang, Qi Xie, Zhitian Li, Zhehan Li, Hangxin Liu, Xinggang Wang, and Song-Chun Zhu · 2025
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Reconstruction vs. generation: Taming optimization dilemma in latent diffusion models
Jingfeng Yao, Bin Yang, and Xinggang Wang · 2025
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Dongkun Zhang, Jiaming Liang, Ke Guo, Sha Lu, Qi Wang, Rong Xiong, Zhenwei Miao, and Yue Wang · 2025
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Sce2drivex: A generalized mllm framework for scene-to-drive learning
Rui Zhao, Qirui Yuan, Jinyu Li, Haofeng Hu, Yun Li, Chengyuan Zheng, and Fei Gao · 2025
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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
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Internvl3: Exploring advanced training and test-time recipes for open-source multimodal models
Jinguo Zhu, Weiyun Wang, Zhe Chen, Zhaoyang Liu, Shenglong Ye, Lixin Gu, Yuchen Duan, Hao Tian, Weijie Su, Jie Shao, et al · 2025
Closest in time.