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Vision-Language-Action (VLA) models have recently attracted growing attention in end-to-end autonomous driving for their strong reasoning capabilities and rich world knowledge.
Alvinn: An autonomous land vehicle in a neural network
Dean A Pomerleau · 1988
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Parallel control and management for intelligent transportation systems: Concepts, architectures, and applications
Fei-Yue Wang · 2010
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Efficient sampling-based motion planning for on-road autonomous driving
Liang Ma, Jianru Xue, Kuniaki Kawabata, Jihua Zhu, Chao Ma, and Nanning Zheng · 2015
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End to end learning for self-driving cars
Mariusz Bojarski, Davide Del Testa, Daniel Dworakowski, Bernhard Firner, Beat Flepp, Prasoon Goyal, Lawrence D Jackel, Mathew Monfort, Urs Muller, Jiakai Zhang, et al · 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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Mask r-cnn
Kaiming He, Georgia Gkioxari, Piotr Dollár, and Ross Girshick · 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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End-to-end driving via conditional imitation learning
Felipe Codevilla, Matthias Müller, Antonio López, Vladlen Koltun, and Alexey Dosovitskiy · 2018
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Sgd: General analysis and improved rates
Robert Mansel Gower, Nicolas Loizou, Xun Qian, Alibek Sailanbayev, Egor Shulgin, and Peter Richtárik · 2019
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Visualbert: A simple and performant baseline for vision and language
Liunian Harold Li, Mark Yatskar, Da Yin, Cho-Jui Hsieh, and Kai-Wei Chang · 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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Vilt: Vision-and-language transformer without convolution or region supervision
Wonjae Kim, Bokyung Son, and Ildoo Kim · 2021
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Flamingo: a visual language model for few-shot learning
Jean-Baptiste Alayrac, Jeff Donahue, Pauline Luc, Antoine Miech, Iain Barr, Yana Hasson, Karel Lenc, Arthur Mensch, Katherine Millican, Malcolm Reynolds, et al · 2022
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Learning from all vehicles
Dian Chen and Philipp Krähenbühl · 2022
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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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Badet: Boundary-aware 3d object detection from point clouds
Rui Qian, Xin Lai, and Xirong Li · 2022
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High-resolution image synthesis with latent diffusion models
Robin Rombach, Andreas Blattmann, Dominik Lorenz, Patrick Esser, and Björn Ommer · 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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Josh Achiam, Steven Adler, Sandhini Agarwal, Lama Ahmad, Ilge Akkaya, Florencia Leoni Aleman, Diogo Almeida, Janko Altenschmidt, Sam Altman, Shyamal Anadkat, et al · 2023
Cited alongside, same era.
A versatile vision-language model for understanding, localization, text reading, and beyond
J Bai, S Bai, S Yang, S Wang, S Tan, P Wang, J Lin, C Zhou, and J Qwen-VL Zhou · 2023
Cited alongside, same era.
Large language models for autonomous driving: Real-world experiments
Can Cui, Zichong Yang, Yupeng Zhou, Yunsheng Ma, Juanwu Lu, and Ziran Wang · 2023
Cited alongside, same era.
Learning universal policies via text-guided video generation
Yilun Du, Sherry Yang, Bo Dai, Hanjun Dai, Ofir Nachum, Josh Tenenbaum, Dale Schuurmans, and Pieter Abbeel · 2023
Cited alongside, same era.
Mathematical capabilities of chatgpt
Simon Frieder, Luca Pinchetti, Ryan-Rhys Griffiths, Tommaso Salvatori, Thomas Lukasiewicz, Philipp Petersen, and Julius Berner · 2023
Openvla: An open-source vision-language-action model
Moo Jin Kim, Karl Pertsch, Siddharth Karamcheti, Ted Xiao, Ashwin Balakrishna, Suraj Nair, Rafael Rafailov, Ethan Foster, Grace Lam, Pannag Sanketi, et al · 2024
Later among the works it cites.
A survey on autonomous driving datasets: Statistics, annotation quality, and a future outlook
Mingyu Liu, Ekim Yurtsever, Jonathan Fossaert, Xingcheng Zhou, Walter Zimmer, Yuning Cui, Bare Luka Zagar, and Alois C Knoll · 2024
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Generate subgoal images before act: Unlocking the chain-of-thought reasoning in diffusion model for robot manipulation with multimodal prompts
Fei Ni, Jianye Hao, Shiguang Wu, Longxin Kou, Jiashun Liu, Yan Zheng, Bin Wang, and Yuzheng Zhuang · 2024
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Open x-embodiment: Robotic learning datasets and rt-x models: Open x-embodiment collaboration 0
Abby O’Neill, Abdul Rehman, Abhiram Maddukuri, Abhishek Gupta, Abhishek Padalkar, Abraham Lee, Acorn Pooley, Agrim Gupta, Ajay Mandlekar, Ajinkya Jain, et al · 2024
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Cited alongside, same era.
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.
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
Cited alongside, same era.
An intelligent traffic detection approach for vehicles on highway using pattern recognition and deep learning
Ming Jin, Chuanxia Sun, and Yinglei Hu · 2023
Cited alongside, same era.
Visual instruction tuning
Haotian Liu, Chunyuan Li, Qingyang Wu, and Yong Jae Lee · 2023
Cited alongside, same era.
Embodiedgpt: Vision-language pre-training via embodied chain of thought
Yao Mu, Qinglong Zhang, Mengkang Hu, Wenhai Wang, Mingyu Ding, Jun Jin, Bin Wang, Jifeng Dai, Yu Qiao, and Ping Luo · 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.
Rt-2: Vision-language-action models transfer web knowledge to robotic control
Brianna Zitkovich, Tianhe Yu, Sichun Xu, Peng Xu, Ted Xiao, Fei Xia, Jialin Wu, Paul Wohlhart, Stefan Welker, Ayzaan Wahid, et al · 2023
Cited alongside, same era.
Fred Philippy, Siwen Guo, Shohreh Haddadan, Cedric Lothritz, Jacques Klein, and Tegawendé F Bissyandé · 2024
Later among the works it cites.
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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Occfeat: Self-supervised occupancy feature prediction for pretraining bev segmentation networks
Sophia Sirko-Galouchenko, Alexandre Boulch, Spyros Gidaris, Andrei Bursuc, Antonin Vobecky, Patrick Pérez, and Renaud Marlet · 2024
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Drivevlm: The convergence of autonomous driving and large vision-language models
Xiaoyu Tian, Junru Gu, Bailin Li, Yicheng Liu, Yang Wang, Zhiyong Zhao, Kun Zhan, Peng Jia, Xianpeng Lang, and Hang Zhao · 2024
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Omnidrive: A holistic llm-agent framework for autonomous driving with 3d perception, reasoning and planning
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.
Robotic control via embodied chain-of-thought reasoning
Michał Zawalski, William Chen, Karl Pertsch, Oier Mees, Chelsea Finn, and Sergey Levine · 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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Gpt-4v as traffic assistant: an in-depth look at vision language model on complex traffic events
Xingcheng Zhou and Alois C Knoll · 2024
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Univla: Learning to act anywhere with task-centric latent actions
Qingwen Bu, Yanting Yang, Jisong Cai, Shenyuan Gao, Guanghui Ren, Maoqing Yao, Ping Luo, and Hongyang Li · 2025
Closest in time.
Haoyu Fu, Diankun Zhang, Zongchuang Zhao, Jianfeng Cui, Dingkang Liang, Chong Zhang, Dingyuan Zhang, Hongwei Xie, Bing Wang, and Xiang Bai · 2025
Closest in time.
Ifship: Interpretable fine-grained ship classification with domain knowledge-enhanced vision-language models
Mingning Guo, Mengwei Wu, Yuxiang Shen, Haifeng Li, and Chao Tao · 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.
Diffvla: Vision-language guided diffusion planning for autonomous driving
Anqing Jiang, Yu Gao, Zhigang Sun, Yiru Wang, Jijun Wang, Jinghao Chai, Qian Cao, Yuweng Heng, Hao Jiang, Yunda Dong, 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.
Don’t shake the wheel: Momentum-aware planning in end-to-end autonomous driving
Ziying Song, Caiyan Jia, Lin Liu, Hongyu Pan, Yongchang Zhang, Junming Wang, Xingyu Zhang, Shaoqing Xu, Lei Yang, and Yadan Luo · 2025
Closest in time.
Cot-vla: Visual chain-of-thought reasoning for vision-language-action models
Qingqing Zhao, Yao Lu, Moo Jin Kim, Zipeng Fu, Zhuoyang Zhang, Yecheng Wu, Zhaoshuo Li, Qianli Ma, Song Han, Chelsea Finn, et al · 2025
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