mlsanityData to 7 Oct 2026

DSDNet: Deep Structured self-Driving Network

arXiv 2008.06041 ↗First posted 13 Aug 2020cs.CVcited by 61

Not on the map. Why?

Abstract (arXiv)

In this paper, we propose the Deep Structured self-Driving Network (DSDNet), which performs object detection, motion prediction, and motion planning with a single neural network. Towards this goal, we develop a deep structured energy based model which considers the interactions between actors and produces socially consistent multimodal future predictions. Furthermore, DSDNet explicitly exploits the predicted future distributions of actors to plan a safe maneuver by using a structured planning cost. Our sample-based formulation allows us to overcome the difficulty in probabilistic inference of continuous random variables. Experiments on a number of large-scale self driving datasets demonstrate that our model significantly outperforms the state-of-the-art.

Key facts. Cited by 61 papers in the map (data through 7 Oct 2026). First posted on arXiv 13 Aug 2020.

Builds on

No reference list yet.

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 9; 2022: 12; 2023: 18; 2024: 5; 2025: 15; 2026: 2.

61 papers.

Sort:

By area:

  1. 2022Planning-oriented Autonomous Drivingcited by 1,068
  2. 2023End-to-end Autonomous Driving: Challenges and Frontierscited by 485
  3. 2022ST-P3: End-to-end Vision-based Autonomous Driving via Spatial-Temporal Feature Learningcited by 365
  4. 2023MotionDiffuser: Controllable Multi-Agent Motion Prediction using Diffusioncited by 210
  5. 2023Think Twice before Driving: Towards Scalable Decoders for End-to-End Autonomous Drivingcited by 168
  6. 2021AdvSim: Generating Safety-Critical Scenarios for Self-Driving Vehiclescited by 132
  7. 20223D Object Detection for Autonomous Driving: A Comprehensive Surveycited by 132
  8. 2021LaneRCNN: Distributed Representations for Graph-Centric Motion Forecastingcited by 112
  9. 2023Recent Advancements in End-to-End Autonomous Driving using Deep Learning: A Surveycited by 101
  10. 2021LookOut: Diverse Multi-Future Prediction and Planning for Self-Drivingcited by 96
  11. 2023ADAPT: Action-aware Driving Caption Transformercited by 78
  12. 2022GoRela: Go Relative for Viewpoint-Invariant Motion Forecastingcited by 68
38 more
  1. 2025A Survey of World Models for Autonomous Drivingcited by 60
  2. 2025STAMP: Scalable Task And Model-agnostic Collaborative Perceptioncited by 44
  3. 2024End-to-End Autonomous Driving through V2X Cooperationcited by 42
  4. 2022JFP: Joint Future Prediction with Interactive Multi-Agent Modeling for Autonomous Drivingcited by 40
  5. 2023Towards Vehicle-to-everything Autonomous Driving: A Survey on Collaborative Perceptioncited by 38
  6. 2021Divide-and-Conquer for Lane-Aware Diverse Trajectory Predictioncited by 37
  7. 2022DiffStack: A Differentiable and Modular Control Stack for Autonomous Vehiclescited by 36
  8. 2023Rethinking Closed-loop Training for Autonomous Drivingcited by 29
  9. 2023The Integration of Prediction and Planning in Deep Learning Automated Driving Systems: A Reviewcited by 29
  10. 2021Learning Interpretable End-to-End Vision-Based Motion Planning for Autonomous Driving with Optical Flow Distillationcited by 25
  11. 2025LangCoop: Collaborative Driving with Languagecited by 25
  12. 2021Deep Multi-Task Learning for Joint Localization, Perception, and Predictioncited by 22
  13. 2023MapPrior: Bird's-Eye View Map Layout Estimation with Generative Modelscited by 21
  14. 2021Deep Structured Reactive Planningcited by 18
  15. 2021End-to-End Interactive Prediction and Planning with Optical Flow Distillation for Autonomous Drivingcited by 17
  16. 2025CoCMT: Communication-Efficient Cross-Modal Transformer for Collaborative Perceptioncited by 13
  17. 2021Decoder Fusion RNN: Context and Interaction Aware Decoders for Trajectory Predictioncited by 12
  18. 2024QuAD: Query-based Interpretable Neural Motion Planning for Autonomous Drivingcited by 11
  19. 2025AirV2X: Unified Air-Ground Vehicle-to-Everything Collaborationcited by 11
  20. 2023Adv3D: Generating Safety-Critical 3D Objects through Closed-Loop Simulationcited by 10
  21. 2023Energy-based Potential Games for Joint Motion Forecasting and Controlcited by 9
  22. 2024V2X-PC: Vehicle-to-everything Collaborative Perception via Point Clustercited by 9
  23. 2022Trajectory Forecasting from Detection with Uncertainty-Aware Motion Encodingcited by 8
  24. 2023SCARP: 3D Shape Completion in ARbitrary Poses for Improved Graspingcited by 8
  25. 2025GCP: Guarded Collaborative Perception with Spatial-Temporal Aware Malicious Agent Detectioncited by 8
  26. 2025CoST: Efficient Collaborative Perception From Unified Spatiotemporal Perspectivecited by 7
  27. 2022Representing Spatial Trajectories as Distributionscited by 5
  28. 2025Automated Vehicles Should be Connected with Natural Languagecited by 5
  29. 2023Interpretable Motion Planner for Urban Driving via Hierarchical Imitation Learningcited by 4
  30. 2023On a Connection between Differential Games, Optimal Control, and Energy-based Models for Multi-Agent Interactionscited by 4
  31. 2025Interaction-Merged Motion Planning: Effectively Leveraging Diverse Motion Datasets for Robust Planningcited by 4
  32. 2025Perfect Prediction or Plenty of Proposals? What Matters Most in Planning for Autonomous Drivingcited by 4
  33. 2023DuEqNet: Dual-Equivariance Network in Outdoor 3D Object Detection for Autonomous Drivingcited by 3
  34. 2025Non-differentiable Reward Optimization for Diffusion-based Autonomous Motion Planningcited by 3
  35. 2026Learning Mutual View Information Graph for Adaptive Adversarial Collaborative Perceptioncited by 3
  36. 2022Fail-Safe Adversarial Generative Imitation Learningcited by 2
  37. 2022Enhancing the Transferability via Feature-Momentum Adversarial Attackcited by 2
  38. 20233D Surface Reconstruction in the Wild by Deforming Shape Priors from Synthetic Datacited by 2

50 most cited of 61 All 61 (JSON)