mlsanityData to 7 Oct 2026

Planning-oriented Autonomous Driving

arXiv 2212.10156 ↗First posted 20 Dec 2022cs.CV cs.ROcited by 1,068

Not on the map. Why?

Cited by 583 in End-to-end autonomous driving, but placed by its own abstract, which didn’t fit.

Abstract (arXiv)

Modern autonomous driving system is characterized as modular tasks in sequential order, i.e., perception, prediction, and planning. In order to perform a wide diversity of tasks and achieve advanced-level intelligence, contemporary approaches either deploy standalone models for individual tasks, or design a multi-task paradigm with separate heads. However, they might suffer from accumulative errors or deficient task coordination. Instead, we argue that a favorable framework should be devised and optimized in pursuit of the ultimate goal, i.e., planning of the self-driving car. Oriented at this, we revisit the key components within perception and prediction, and prioritize the tasks such that all these tasks contribute to planning. We introduce Unified Autonomous Driving (UniAD), a comprehensive framework up-to-date that incorporates full-stack driving tasks in one network. It is exquisitely devised to leverage advantages of each module, and provide complementary feature abstractions for agent interaction from a global perspective. Tasks are communicated with unified query interfaces to facilitate each other toward planning. We instantiate UniAD on the challenging nuScenes benchmark. With extensive ablations, the effectiveness of using such a philosophy is proven by substantially outperforming previous state-of-the-arts in all aspects. Code and models are public.

Key facts. Cited by 1,068 papers in the map (data through 7 Oct 2026). Builds on 95 of its 113 references that are in the map. First posted on arXiv 20 Dec 2022.

Builds on

95 of 113 references.

References · 95

  1. 2017Attention Is All You Needcited by 59,932
  2. 2015Deep Residual Learning for Image Recognitioncited by 51,809
  3. 2020End-to-End Object Detection with Transformerscited by 7,384
  4. 2019nuScenes: A multimodal dataset for autonomous drivingcited by 4,485
  5. 2020Deformable DETR: Deformable Transformers for End-to-End Object Detectioncited by 3,410
  6. 2017CARLA: An Open Urban Driving Simulatorcited by 2,431
  7. 2021Masked-attention Mask Transformer for Universal Image Segmentationcited by 2,338
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  9. 2019Generalized Intersection over Union: A Metric and A Loss for Bounding Box Regressioncited by 1,361
  10. 2022BEVFormer: Learning Bird's-Eye-View Representation from Multi-Camera Images via Spatiotemporal Transformerscited by 1,213
  11. 2021Per-Pixel Classification is Not All You Need for Semantic Segmentationcited by 1,148
  12. 2020Lift, Splat, Shoot: Encoding Images From Arbitrary Camera Rigs by Implicitly Unprojecting to 3Dcited by 1,040
38 more
  1. 2016End to End Learning for Self-Driving Carscited by 1,000
  2. 2022BEVFusion: Multi-Task Multi-Sensor Fusion with Unified Bird's-Eye View Representationcited by 844
  3. 2022A Generalist Agentcited by 802
  4. 2018Panoptic Segmentationcited by 796
  5. 2017Focal Loss for Dense Object Detectioncited by 749
  6. 2022OFA: Unifying Architectures, Tasks, and Modalities Through a Simple Sequence-to-Sequence Learning Frameworkcited by 742
  7. 2021Large Scale Interactive Motion Forecasting for Autonomous Driving : The Waymo Open Motion Datasetcited by 532
  8. 2020VectorNet: Encoding HD Maps and Agent Dynamics from Vectorized Representationcited by 528
  9. 2021NuPlan: A closed-loop ML-based planning benchmark for autonomous vehiclescited by 485
  10. 2017End-to-end Driving via Conditional Imitation Learningcited by 479
  11. 2022TransFuser: Imitation with Transformer-Based Sensor Fusion for Autonomous Drivingcited by 477
  12. 2019MultiPath: Multiple Probabilistic Anchor Trajectory Hypotheses for Behavior Predictioncited by 417
  13. 2018ChauffeurNet: Learning to Drive by Imitating the Best and Synthesizing the Worstcited by 391
  14. 2021MOTR: End-to-End Multiple-Object Tracking with Transformercited by 379
  15. 2020Multi-Task Learning with Deep Neural Networks: A Surveycited by 374
  16. 2021Multi-Modal Fusion Transformer for End-to-End Autonomous Drivingcited by 372
  17. 2022ST-P3: End-to-end Vision-based Autonomous Driving via Spatial-Temporal Feature Learningcited by 365
  18. 2019Learning by Cheatingcited by 361
  19. 2020TNT: Target-driveN Trajectory Predictioncited by 345
  20. 2019Exploring the Limitations of Behavior Cloning for Autonomous Drivingcited by 343
  21. 2022Mask DINO: Towards A Unified Transformer-based Framework for Object Detection and Segmentationcited by 341
  22. 2022BEVFusion: A Simple and Robust LiDAR-Camera Fusion Frameworkcited by 334
  23. 2021AgentFormer: Agent-Aware Transformers for Socio-Temporal Multi-Agent Forecastingcited by 327
  24. 2022Wayformer: Motion Forecasting via Simple & Efficient Attention Networkscited by 279
  25. 2022Motion Transformer with Global Intention Localization and Local Movement Refinementcited by 267
  26. 2018Learning to Drive in a Daycited by 266
  27. 2021Is Pseudo-Lidar needed for Monocular 3D Object detection?cited by 248
  28. 2022Trajectory-guided Control Prediction for End-to-end Autonomous Driving: A Simple yet Strong Baselinecited by 247
  29. 2021MultiPath++: Efficient Information Fusion and Trajectory Aggregation for Behavior Predictioncited by 246
  30. 2021End-to-end Interpretable Neural Motion Plannercited by 240
  31. 2021FIERY: Future Instance Prediction in Bird's-Eye View from Surround Monocular Camerascited by 239
  32. 2020Fast and Furious: Real Time End-to-End 3D Detection, Tracking and Motion Forecasting with a Single Convolutional Netcited by 228
  33. 2021MP3: A Unified Model to Map, Perceive, Predict and Plancited by 211
  34. 2022Safety-Enhanced Autonomous Driving Using Interpretable Sensor Fusion Transformercited by 211
  35. 2021Multimodal Motion Prediction with Stacked Transformerscited by 207
  36. 2022Unifying Voxel-based Representation with Transformer for 3D Object Detectioncited by 202
  37. 2021End-to-End Urban Driving by Imitating a Reinforcement Learning Coachcited by 191
  38. 2022BEVerse: Unified Perception and Prediction in Birds-Eye-View for Vision-Centric Autonomous Drivingcited by 191

50 most cited of 95 All 95 (JSON)

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2022: 1; 2023: 87; 2024: 255; 2025: 369; 2026: 356.

1,068 papers.

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  1. 2023GAIA-1: A Generative World Model for Autonomous Drivingcited by 618
  2. 2023DriveLM: Driving with Graph Visual Question Answeringcited by 527
  3. 2023End-to-end Autonomous Driving: Challenges and Frontierscited by 485
  4. 2024DriveVLM: The Convergence of Autonomous Driving and Large Vision-Language Modelscited by 482
  5. 2023DriveGPT4: Interpretable End-to-end Autonomous Driving via Large Language Modelcited by 455
  6. 2023GPT-Driver: Learning to Drive with GPTcited by 344
  7. 2024NAVSIM: Data-Driven Non-Reactive Autonomous Vehicle Simulation and Benchmarkingcited by 343
  8. 2024Vista: A Generalizable Driving World Model with High Fidelity and Versatile Controllabilitycited by 337
  9. 2024DiffusionDrive: Truncated Diffusion Model for End-to-End Autonomous Drivingcited by 324
  10. 2023Driving into the Future: Multiview Visual Forecasting and Planning with World Model for Autonomous Drivingcited by 309
  11. 2023LMDrive: Closed-Loop End-to-End Driving with Large Language Modelscited by 301
  12. 2024VADv2: End-to-End Vectorized Autonomous Driving via Probabilistic Planningcited by 287
38 more
  1. 2025X-VLA: Soft-Prompted Transformer as Scalable Cross-Embodiment Vision-Language-Action Modelcited by 285
  2. 2023DriveDreamer: Towards Real-world-driven World Models for Autonomous Drivingcited by 258
  3. 2025AutoVLA: A Vision-Language-Action Model for End-to-End Autonomous Driving with Adaptive Reasoning and Reinforcement Fine-Tuningcited by 252
  4. 2024Bench2Drive: Towards Multi-Ability Benchmarking of Closed-Loop End-To-End Autonomous Drivingcited by 250
  5. 2024Hydra-MDP: End-to-end Multimodal Planning with Multi-target Hydra-Distillationcited by 244
  6. 2023Is Ego Status All You Need for Open-Loop End-to-End Autonomous Driving?cited by 242
  7. 2024SparseDrive: End-to-End Autonomous Driving via Sparse Scene Representationcited by 239
  8. 2023Parting with Misconceptions about Learning-based Vehicle Motion Planningcited by 238
  9. 2023DriveMLM: Aligning Multi-Modal Large Language Models with Behavioral Planning States for Autonomous Drivingcited by 233
  10. 2023OccWorld: Learning a 3D Occupancy World Model for Autonomous Drivingcited by 230
  11. 2024EMMA: End-to-End Multimodal Model for Autonomous Drivingcited by 226
  12. 2024GenAD: Generative End-to-End Autonomous Drivingcited by 225
  13. 2024A Survey on 3D Gaussian Splattingcited by 221
  14. 2023Scene as Occupancycited by 208
  15. 2025InternVideo2.5: Empowering Video MLLMs with Long and Rich Context Modelingcited by 203
  16. 2023Rethinking the Open-Loop Evaluation of End-to-End Autonomous Driving in nuScenescited by 191
  17. 2025ReCogDrive: A Reinforced Cognitive Framework for End-to-End Autonomous Drivingcited by 190
  18. 2023LanguageMPC: Large Language Models as Decision Makers for Autonomous Drivingcited by 188
  19. 2025ORION: A Holistic End-to-End Autonomous Driving Framework by Vision-Language Instructed Action Generationcited by 177
  20. 2025OpenDriveVLA: Towards End-to-end Autonomous Driving with Large Vision Language Action Modelcited by 172
  21. 2023MARS: An Instance-aware, Modular and Realistic Simulator for Autonomous Drivingcited by 170
  22. 2023Think Twice before Driving: Towards Scalable Decoders for End-to-End Autonomous Drivingcited by 168
  23. 2023Panacea: Panoramic and Controllable Video Generation for Autonomous Drivingcited by 165
  24. 2025FutureSightDrive: Thinking Visually with Spatio-Temporal CoT for Autonomous Drivingcited by 165
  25. 2024Lotus: Diffusion-based Visual Foundation Model for High-quality Dense Predictioncited by 163
  26. 2023FB-OCC: 3D Occupancy Prediction based on Forward-Backward View Transformationcited by 162
  27. 2023A Language Agent for Autonomous Drivingcited by 161
  28. 2024Enhancing End-to-End Autonomous Driving with Latent World Modelcited by 161
  29. 2024Behavior Generation with Latent Actionscited by 159
  30. 2023Drive Like a Human: Rethinking Autonomous Driving with Large Language Modelscited by 158
  31. 2024Senna: Bridging Large Vision-Language Models and End-to-End Autonomous Drivingcited by 156
  32. 2024GenAD: Generalized Predictive Model for Autonomous Drivingcited by 150
  33. 2025SimLingo: Vision-Only Closed-Loop Autonomous Driving with Language-Action Alignmentcited by 149
  34. 2025End-to-End Driving with Online Trajectory Evaluation via BEV World Modelcited by 145
  35. 2023DriveAdapter: Breaking the Coupling Barrier of Perception and Planning in End-to-End Autonomous Drivingcited by 142
  36. 2025OmniDrive: A Holistic Vision-Language Dataset for Autonomous Driving with Counterfactual Reasoningcited by 142
  37. 2025Diffusion-Based Planning for Autonomous Driving with Flexible Guidancecited by 138
  38. 2023LLM4Drive: A Survey of Large Language Models for Autonomous Drivingcited by 136

50 most cited of 1,068 All 1,068 (JSON)

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  1. 2025Perception in Plan: Coupled Perception and Planning for End-to-End Autonomous Driving
  2. 2026Planning-Oriented End-to-End Autonomous Driving: Architectures, Evaluation, and Emerging Paradigms
  3. 2021Multi-task UNet architecture for end-to-end autonomous driving
  4. 2025SAFe-Copilot: Unified Shared Autonomy Framework ↗
  5. 2026AutoDrive-P3: Unified Chain of Perception-Prediction-Planning Thought via Reinforcement Fine-Tuning
  6. 2023Transcendental Idealism of Planner: Evaluating Perception from Planning Perspective for Autonomous Driving
  7. 2025ALN-P3: Unified Language Alignment for Perception, Prediction, and Planning in Autonomous Driving
  8. 2026A Survey of Reasoning in Autonomous Driving Systems: Open Challenges and Emerging Paradigms