mlsanityData to 7 Oct 2026

End-To-End Planning of Autonomous Driving in Industry and Academia: 2022-2023

arXiv 2401.08658 ↗First posted 26 Dec 2023cs.RO cs.AIcited by 11

On the map: End-to-end autonomous driving → End-to-end system architecture

Abstract (arXiv)

This paper aims to provide a quick review of the methods including the technologies in detail that are currently reported in industry and academia. Specifically, this paper reviews the end-to-end planning, including Tesla FSD V12, Momenta 2023, Horizon Robotics 2023, Motional RoboTaxi 2022, Woven Planet (Toyota): Urban Driver, and Nvidia. In addition, we review the state-of-the-art academic studies that investigate end-to-end planning of autonomous driving. This paper provides readers with a concise structure and fast learning of state-of-the-art end-to-end planning for 2022-2023. This article provides a meaningful overview as introductory material for beginners to follow the state-of-the-art end-to-end planning of autonomous driving in industry and academia, as well as supplementary material for advanced researchers.

Key facts. Cited by 11 papers in the map (data through 7 Oct 2026). Placed in End-to-end system architecture, one of 9 directions in End-to-end autonomous driving. Builds on 10 of its 13 references that are in the map. First posted on arXiv 26 Dec 2023.

Builds on

10 of 13 references.

Closest ancestors · 1

Same direction, newest first

  1. 2023Motion Planning for Autonomous Driving: The State of the Art and Future Perspectives17 Mar

Other references · 9

  1. 2022Planning-oriented Autonomous Drivingcited by 1,068
  2. 2023Parting with Misconceptions about Learning-based Vehicle Motion Planningcited by 238
  3. 2021Urban Driver: Learning to Drive from Real-world Demonstrations Using Policy Gradientscited by 122
  4. 2023DTPP: Differentiable Joint Conditional Prediction and Cost Evaluation for Tree Policy Planning in Autonomous Drivingcited by 46
  5. 2022Conditional Predictive Behavior Planning with Inverse Reinforcement Learning for Human-like Autonomous Drivingcited by 34
  6. 2023Tree-structured Policy Planning with Learned Behavior Modelscited by 24
  7. 2023Imitation with Spatial-Temporal Heatmap: 2nd Place Solution for NuPlan Challengecited by 19
  8. 2022Driving in Real Life with Inverse Reinforcement Learningcited by 18
  9. 2023Occupancy Prediction-Guided Neural Planner for Autonomous Drivingcited by 8

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2024: 8; 2025: 1; 2026: 2.

11 papers.

  1. 2024Exploring the Causality of End-to-End Autonomous Drivingcited by 7
  2. 2025Astra: Toward General-Purpose Mobile Robots via Hierarchical Multimodal Learningcited by 4
  3. 2024Spatially Visual Perception for End-to-End Robotic Learningcited by 2
  4. 2024Automatic parking planning control method based on improved A* algorithmcited by 1
  5. 2024Automated Parking Planning with Vision-Based BEV Approachcited by 0
  6. 2024Acceleration method for generating perception failure scenarios based on editing Markov processcited by 0
  7. 2024Deep Reinforcement Learning for Adverse Garage Scenario Generationcited by 0
  8. 2024Research on Reliable and Safe Occupancy Grid Prediction in Underground Parking Lotscited by 0
  9. 2024Development of Occupancy Prediction Algorithm for Underground Parking Lotscited by 0
  10. 2026A Two-Stage Framework for Ego-Centric Key Object Identification via Object State Predictioncited by 0
  11. 2026A Comprehensive Review of Generative Physical Artificial Intelligencecited by 0

Similar, not cited

Close in wording, no citation either way

  1. 2023End-to-end Autonomous Driving: Challenges and Frontiers
  2. 2022Trajectory-guided Control Prediction for End-to-end Autonomous Driving: A Simple yet Strong Baseline
  3. 2025MAP: End-to-End Autonomous Driving with Map-Assisted Planning
  4. 2026The Era of End-to-End Autonomy: Transitioning from Rule-Based Driving to Large Driving Models
  5. 2026Planning-Oriented End-to-End Autonomous Driving: Architectures, Evaluation, and Emerging Paradigms
  6. 2025Future-Aware End-to-End Driving: Bidirectional Modeling of Trajectory Planning and Scene Evolution
  7. 2023End-to-end Autonomous Driving using Deep Learning: A Systematic Review
  8. 2025End-to-End Driving with Online Trajectory Evaluation via BEV World Model