mlsanityData to 13 Oct 2026

PPAD: Iterative Interactions of Prediction and Planning for End-to-end Autonomous Driving

arXiv 2311.08100 ↗First posted 14 Nov 2023cs.CV cs.ROcited by 33

On the map: End-to-end autonomous driving → Imitation-learning end-to-end planners

Abstract (arXiv)

We present a new interaction mechanism of prediction and planning for end-to-end autonomous driving, called PPAD (Iterative Interaction of Prediction and Planning Autonomous Driving), which considers the timestep-wise interaction to better integrate prediction and planning. An ego vehicle performs motion planning at each timestep based on the trajectory prediction of surrounding agents (e.g., vehicles and pedestrians) and its local road conditions. Unlike existing end-to-end autonomous driving frameworks, PPAD models the interactions among ego, agents, and the dynamic environment in an autoregressive manner by interleaving the Prediction and Planning processes at every timestep, instead of a single sequential process of prediction followed by planning. Specifically, we design ego-to-agent, ego-to-map, and ego-to-BEV interaction mechanisms with hierarchical dynamic key objects attention to better model the interactions. The experiments on the nuScenes benchmark show that our approach outperforms state-of-the-art methods.

Key facts. Cited by 33 papers in the map (data through 13 Oct 2026). Placed in Imitation-learning end-to-end planners, one of 9 directions in End-to-end autonomous driving. Builds on 53 of its 58 references that are in the map. First posted on arXiv 14 Nov 2023.

Builds on

53 of 58 references.

Closest ancestors · 2

Same direction, newest first

  1. 2023GameFormer: Game-theoretic Modeling and Learning of Transformer-based Interactive Prediction and Planning for Autonomous Driving10 Mar
  2. 2021End-to-End Urban Driving by Imitating a Reinforcement Learning Coach18 Aug

Other references · 51

  1. 2015Deep Residual Learning for Image Recognitioncited by 51,950
  2. 2014Adam: A Method for Stochastic Optimizationcited by 37,093
  3. 2019nuScenes: A multimodal dataset for autonomous drivingcited by 4,498
  4. 2020Deformable DETR: Deformable Transformers for End-to-End Object Detectioncited by 3,417
  5. 2018PointPillars: Fast Encoders for Object Detection from Point Cloudscited by 1,709
  6. 2017VoxelNet: End-to-End Learning for Point Cloud Based 3D Object Detectioncited by 1,323
  7. 2022BEVFormer: Learning Bird's-Eye-View Representation from Multi-Camera Images via Spatiotemporal Transformerscited by 1,215
  8. 2022Planning-oriented Autonomous Drivingcited by 1,074
  9. 2020Lift, Splat, Shoot: Encoding Images From Arbitrary Camera Rigs by Implicitly Unprojecting to 3Dcited by 1,040
  10. 2016End to End Learning for Self-Driving Carscited by 1,002
  11. 2022BEVFusion: Multi-Task Multi-Sensor Fusion with Unified Bird's-Eye View Representationcited by 847
  12. 2015Convolutional Networks on Graphs for Learning Molecular Fingerprintscited by 753
38 more
  1. 2019Argoverse: 3D Tracking and Forecasting with Rich Mapscited by 730
  2. 2021BEVDet: High-performance Multi-camera 3D Object Detection in Bird-Eye-Viewcited by 711
  3. 2023Argoverse 2: Next Generation Datasets for Self-Driving Perception and Forecastingcited by 704
  4. 2023VAD: Vectorized Scene Representation for Efficient Autonomous Drivingcited by 615
  5. 2022BEVDepth: Acquisition of Reliable Depth for Multi-view 3D Object Detectioncited by 569
  6. 2022PETR: Position Embedding Transformation for Multi-View 3D Object Detectioncited by 551
  7. 2020VectorNet: Encoding HD Maps and Agent Dynamics from Vectorized Representationcited by 530
  8. 2022DN-DETR: Accelerate DETR Training by Introducing Query DeNoisingcited by 488
  9. 2022TransFuser: Imitation with Transformer-Based Sensor Fusion for Autonomous Drivingcited by 479
  10. 2019MultiPath: Multiple Probabilistic Anchor Trajectory Hypotheses for Behavior Predictioncited by 418
  11. 2020Learning Lane Graph Representations for Motion Forecastingcited by 382
  12. 2022ST-P3: End-to-end Vision-based Autonomous Driving via Spatial-Temporal Feature Learningcited by 365
  13. 2019Learning by Cheatingcited by 361
  14. 2022PETRv2: A Unified Framework for 3D Perception from Multi-Camera Imagescited by 352
  15. 2019Exploring the Limitations of Behavior Cloning for Autonomous Drivingcited by 343
  16. 2022MapTR: Structured Modeling and Learning for Online Vectorized HD Map Constructioncited by 314
  17. 2023Exploring Object-Centric Temporal Modeling for Efficient Multi-View 3D Object Detectioncited by 314
  18. 2022BEVFormer v2: Adapting Modern Image Backbones to Bird's-Eye-View Recognition via Perspective Supervisioncited by 302
  19. 2022Trajectory-guided Control Prediction for End-to-end Autonomous Driving: A Simple yet Strong Baselinecited by 247
  20. 2015Deep Convolutional Networks on Graph-Structured Datacited by 246
  21. 2021End-to-end Interpretable Neural Motion Plannercited by 240
  22. 2020Fast and Furious: Real Time End-to-End 3D Detection, Tracking and Motion Forecasting with a Single Convolutional Netcited by 228
  23. 2023Scene as Occupancycited by 209
  24. 2021Multimodal Motion Prediction with Stacked Transformerscited by 208
  25. 2023Think Twice before Driving: Towards Scalable Decoders for End-to-End Autonomous Drivingcited by 168
  26. 2021IntentNet: Learning to Predict Intention from Raw Sensor Datacited by 158
  27. 2022ViP3D: End-to-end Visual Trajectory Prediction via 3D Agent Queriescited by 116
  28. 2021LaneRCNN: Distributed Representations for Graph-Centric Motion Forecastingcited by 113
  29. 2022PlanT: Explainable Planning Transformers via Object-Level Representationscited by 105
  30. 2018Baidu Apollo EM Motion Plannercited by 99
  31. 2021TPCN: Temporal Point Cloud Networks for Motion Forecastingcited by 94
  32. 2022Differentiable Raycasting for Self-supervised Occupancy Forecastingcited by 83
  33. 2023SparseFusion: Fusing Multi-Modal Sparse Representations for Multi-Sensor 3D Object Detectioncited by 83
  34. 2020HVNet: Hybrid Voxel Network for LiDAR Based 3D Object Detectioncited by 82
  35. 2023FusionAD: Multi-modality Fusion for Prediction and Planning Tasks of Autonomous Drivingcited by 67
  36. 2021Learning to Predict Vehicle Trajectories with Model-based Planningcited by 63
  37. 2021GRI: General Reinforced Imitation and its Application to Vision-Based Autonomous Drivingcited by 60
  38. 2022Vision-based Uneven BEV Representation Learning with Polar Rasterization and Surface Estimationcited by 23

50 most cited of 51 All 51 (JSON)

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Cited by year (2026 to 13 Oct)

Citing papers per year: 2024: 2; 2025: 25; 2026: 6.

33 papers.

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  1. 2024DiffusionDrive: Truncated Diffusion Model for End-to-End Autonomous Drivingcited by 326
  2. 2024GenAD: Generative End-to-End Autonomous Drivingcited by 225
  3. 2025World4Drive: End-to-End Autonomous Driving via Intention-aware Physical Latent World Modelcited by 91
  4. 2025Don't Shake the Wheel: Momentum-Aware Planning in End-to-End Autonomous Drivingcited by 84
  5. 2025RAD: Training an End-to-End Driving Policy via Large-Scale 3DGS-based Reinforcement Learningcited by 76
  6. 2025A Survey on Vision-Language-Action Models for Autonomous Drivingcited by 72
  7. 2025iPad: Iterative Proposal-centric End-to-End Autonomous Drivingcited by 41
  8. 2025HiP-AD: Hierarchical and Multi-Granularity Planning with Deformable Attention for Autonomous Driving in a Single Decodercited by 35
  9. 2025Plan-R1: Safe and Feasible Trajectory Planning as Language Modelingcited by 19
  10. 2025DIVER: Reinforced Diffusion Breaks Imitation Bottlenecks in End-to-End Autonomous Drivingcited by 17
  11. 2025PRIX: Learning to Plan from Raw Pixels for End-to-End Autonomous Drivingcited by 16
  12. 2025Reasoning-VLA: A Fast and General Vision-Language-Action Reasoning Model for Autonomous Drivingcited by 14
21 more
  1. 2025ResAD: Normalized Residual Trajectory Modeling for End-to-End Autonomous Drivingcited by 12
  2. 2025MindDrive: An All-in-One Framework Bridging World Models and Vision-Language Model for End-to-End Autonomous Drivingcited by 12
  3. 2026Learning Vision-Language-Action World Models for Autonomous Drivingcited by 11
  4. 2025OccTENS: 3D Occupancy World Model via Temporal Next-Scale Predictioncited by 9
  5. 2026SafeDrive: Fine-Grained Safety Reasoning for End-to-End Driving in a Sparse Worldcited by 7
  6. 2026CausalVAD: De-confounding End-to-End Autonomous Driving via Causal Interventioncited by 7
  7. 2025Fully Unified Motion Planning for End-to-End Autonomous Drivingcited by 6
  8. 2025FocalAD: Local Motion Planning for End-to-End Autonomous Drivingcited by 6
  9. 2025Generative Active Learning for Long-tail Trajectory Prediction via Controllable Diffusion Modelcited by 6
  10. 2025Delta-Triplane Transformers as Occupancy World Modelscited by 5
  11. 2025Interaction-Merged Motion Planning: Effectively Leveraging Diverse Motion Datasets for Robust Planningcited by 5
  12. 2025VR-Drive: Viewpoint-Robust End-to-End Driving with Feed-Forward 3D Gaussian Splattingcited by 5
  13. 2025CogAD: Cognitive-Hierarchy Guided End-to-End Autonomous Drivingcited by 4
  14. 2025Echo Planning for Autonomous Driving: From Current Observations to Future Trajectories and Backcited by 3
  15. 2025Autoregressive Meta-Actions for Unified Controllable Trajectory Generationcited by 2
  16. 2026UniUncer: Unified Dynamic Static Uncertainty for End to End Drivingcited by 2
  17. 2025Collision Risk Estimation via Loss Prediction in End-to-End Autonomous Drivingcited by 1
  18. 2025Beyond Imitation: Constraint-Aware Trajectory Generation with Flow Matching For End-to-End Autonomous Drivingcited by 1
  19. 2026FlowR2A: Learning Reward-to-Action Distribution for Multimodal Driving Planningcited by 1
  20. 2025BEVTraj: Map-Free End-to-End Trajectory Prediction in Bird's-Eye View with Deformable Attention and Sparse Goal Proposalscited by 0
  21. 2026Targeted Structure Completion for Sparse-View 3D Reconstruction in Autonomous Drivingcited by 0

Similar, not cited

Close in wording, no citation either way

  1. 2026Causality-Aware End-to-End Autonomous Driving via Ego-Centric Joint Scene Modeling
  2. 2024GraphAD: Interaction Scene Graph for End-to-end Autonomous Driving
  3. 2026GraphWorld: Long-Horizon Planning with World Models for End-to-End Autonomous Driving
  4. 2026ProDrive: Proactive Planning for Autonomous Driving via Ego-Environment Co-Evolution
  5. 2023Learning Interaction-aware Motion Prediction Model for Decision-making in Autonomous Driving
  6. 2023Interaction-Aware Trajectory Planning for Autonomous Vehicles with Analytic Integration of Neural Networks into Model Predictive Control
  7. 2026INTERACT: Interactive Planning for Autonomous Driving via Anchor-Conditioned Prediction and Trust-Region Refinement
  8. 2025Predictive Planner for Autonomous Driving with Consistency Models