mlsanityData to 7 Oct 2026

From Prediction to Planning With Goal Conditioned Lane Graph Traversals

arXiv 2302.07753 ↗First posted 15 Feb 2023cs.ROcited by 45

Not on the map. Why?

Cited by 26 in End-to-end autonomous driving, but placed by its own abstract, which didn’t fit.

Abstract (arXiv)

The field of motion prediction for automated driving has seen tremendous progress recently, bearing ever-more mighty neural network architectures. Leveraging these powerful models bears great potential for the closely related planning task. In this letter we propose a novel goal-conditioning method and show its potential to transform a state-of-the-art prediction model into a goal-directed planner. Our key insight is that conditioning prediction on a navigation goal at the behaviour level outperforms other widely adopted methods, with the additional benefit of increased model interpretability. We train our model on a large open-source dataset and show promising performance in a comprehensive benchmark.

Key facts. Cited by 45 papers in the map (data through 7 Oct 2026). First posted on arXiv 15 Feb 2023.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2023: 3; 2024: 13; 2025: 19; 2026: 10.

45 papers.

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  1. 2023Parting with Misconceptions about Learning-based Vehicle Motion Planningcited by 238
  2. 2024Towards learning-based planning:The nuPlan benchmark for real-world autonomous drivingcited by 103
  3. 2025Hydra-MDP++: Advancing End-to-End Driving via Expert-Guided Hydra-Distillationcited by 93
  4. 2024PLUTO: Pushing the Limit of Imitation Learning-based Planning for Autonomous Drivingcited by 84
  5. 2025Robust Autonomy Emerges from Self-Playcited by 64
  6. 2024Solving Motion Planning Tasks with a Scalable Generative Modelcited by 40
  7. 2024Can Vehicle Motion Planning Generalize to Realistic Long-tail Scenarios?cited by 38
  8. 2024PlanAgent: A Multi-modal Large Language Agent for Closed-loop Vehicle Motion Planningcited by 38
  9. 2024Asynchronous Large Language Model Enhanced Planner for Autonomous Drivingcited by 38
  10. 2025CaRL: Learning Scalable Planning Policies with Simple Rewardscited by 34
  11. 2025CarPlanner: Consistent Auto-regressive Trajectory Planning for Large-scale Reinforcement Learning in Autonomous Drivingcited by 31
  12. 2023The Integration of Prediction and Planning in Deep Learning Automated Driving Systems: A Reviewcited by 29
33 more
  1. 2023Rethinking Imitation-based Planner for Autonomous Drivingcited by 25
  2. 2025Plan-R1: Safe and Feasible Trajectory Planning as Language Modelingcited by 19
  3. 2024CALMM-Drive: Confidence-Aware Autonomous Driving with Large Multimodal Modelcited by 12
  4. 2024Instruct Large Language Models to Drive like Humanscited by 11
  5. 2024Planning with Adaptive World Models for Autonomous Drivingcited by 11
  6. 2025LiloDriver: A Lifelong Learning Framework for Closed-loop Motion Planning in Long-tail Autonomous Driving Scenarioscited by 7
  7. 2025When Planners Meet Reality: How Learned, Reactive Traffic Agents Shift nuPlan Benchmarkscited by 7
  8. 2025VLMPlanner: Integrating Visual Language Models with Motion Planningcited by 6
  9. 2025AGENTS-LLM: Augmentative GENeration of Challenging Traffic Scenarios with an Agentic LLM Frameworkcited by 5
  10. 2024Pioneering SE(2)-Equivariant Trajectory Planning for Automated Drivingcited by 4
  11. 2025Perfect Prediction or Plenty of Proposals? What Matters Most in Planning for Autonomous Drivingcited by 4
  12. 2025HYPE: Hybrid Planning with Ego Proposal-Conditioned Predictionscited by 3
  13. 2025nuPlan-R: A Closed-Loop Planning Benchmark for Autonomous Driving via Reactive Multi-Agent Simulationcited by 3
  14. 2025LAP: Fast LAtent Diffusion Planner for Autonomous Drivingcited by 2
  15. 2026DeepUrban: Interaction-Aware Trajectory Prediction and Planning for Automated Driving by Aerial Imagerycited by 2
  16. 2024Utilizing Navigation Paths to Generate Target Points for Enhanced End-to-End Autonomous Driving Planningcited by 1
  17. 2024Hybrid Imitation-Learning Motion Planner for Urban Drivingcited by 1
  18. 2024LHPF: Look back the History and Plan for the Future in Autonomous Drivingcited by 1
  19. 2025CAFE-AD: Cross-Scenario Adaptive Feature Enhancement for Trajectory Planning in Autonomous Drivingcited by 1
  20. 2025Driving is a Game: Combining Planning and Prediction with Bayesian Iterative Best Responsecited by 1
  21. 2026PlanTRansformer: Unified Prediction and Planning with Goal-conditioned Transformercited by 1
  22. 2026RAPiD: Reward-Guided Consistency Distillation of Diffusion Planners for Real-Time Autonomous Drivingcited by 1
  23. 2026ASSCG: Just-Right Gating over Chattering for Fast-Slow LLM Planning in Autonomous Drivingcited by 1
  24. 2026TerraZero: Procedural Driving Simulation for Zero-Demonstration Self-Play at Scalecited by 1
  25. 2025Trajectory Entropy: Modeling Game State Stability from Multimodality Trajectory Predictioncited by 0
  26. 2025Align2Act: Instruction-Tuned Models for Human-Aligned Autonomous Drivingcited by 0
  27. 2025UniPlanner: A Unified Motion Planning Framework for Autonomous Vehicle Decision-Making Systems via Multi-Dataset Integrationcited by 0
  28. 2025VLM as Strategist: Adaptive Generation of Safety-critical Testing Scenarios via Guided Diffusioncited by 0
  29. 2026LUNA-AD: Lightweight Uncertainty-Aware Language Model with Lifelong Learning for Autonomous Drivingcited by 0
  30. 2026SD-RouteFusion: Ego-Trajectory Prediction with SD-Map Route Conditioningcited by 0
  31. 2026Agent-driven Long-tail Simulation for Autonomous Drivingcited by 0
  32. 2026Large Language Model Enhanced Differentiable Trajectory Planning for IoT-Enabled Autonomous Drivingcited by 0
  33. 2026INTERACT: Interactive Planning for Autonomous Driving via Anchor-Conditioned Prediction and Trust-Region Refinementcited by 0