# On the Road to Portability: Compressing End-to-End Motion Planner for Autonomous Driving

arXiv: https://arxiv.org/abs/2403.01238 · HTML: https://mlsanity.com/paper/2403.01238/

## Key facts

- Cited by 10 papers in the map (data through 14 Oct 2026).
- Placed in Reasoning VLA and VLM driving policies, one of 9 directions in End-to-end autonomous driving.
- Builds on 40 of its 54 references that are in the map.
- First posted on arXiv 2 Mar 2024.

## Placed in

- End-to-end autonomous driving / [Reasoning VLA and VLM driving policies](https://mlsanity.com/driving/reasoning-vla-and-vlm-driving-policies/)
- Knowledge distillation / [Multimodal distillation](https://mlsanity.com/distill/multimodal-distillation/)

## Builds on (most cited first, 30 of 40)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [Distilling the Knowledge in a Neural Network](https://mlsanity.com/paper/1503.02531/) (2015)
- [Grad-CAM: Visual Explanations from Deep Networks via Gradient-based Localization](https://mlsanity.com/paper/1610.02391/) (2016)
- [CARLA: An Open Urban Driving Simulator](https://mlsanity.com/paper/1711.03938/) (2017)
- [Planning-oriented Autonomous Driving](https://mlsanity.com/paper/2212.10156/) (2022)
- [Paying More Attention to Attention: Improving the Performance of Convolutional Neural Networks via Attention Transfer](https://mlsanity.com/paper/1612.03928/) (2016)
- [Deep Variational Information Bottleneck](https://mlsanity.com/paper/1612.00410/) (2016)
- [Patient Knowledge Distillation for BERT Model Compression](https://mlsanity.com/paper/1908.09355/) (2019)
- [End-to-end Driving via Conditional Imitation Learning](https://mlsanity.com/paper/1710.02410/) (2017)
- [Decoupled Knowledge Distillation](https://mlsanity.com/paper/2203.08679/) (2022)
- [Learning by Cheating](https://mlsanity.com/paper/1912.12294/) (2019)
- [Multi-Modal Fusion Transformer for End-to-End Autonomous Driving](https://mlsanity.com/paper/2104.09224/) (2021)
- [ST-P3: End-to-end Vision-based Autonomous Driving via Spatial-Temporal Feature Learning](https://mlsanity.com/paper/2207.07601/) (2022)
- [Distilling Knowledge via Knowledge Review](https://mlsanity.com/paper/2104.09044/) (2021)
- [Structured Knowledge Distillation for Dense Prediction](https://mlsanity.com/paper/1903.04197/) (2019)
- [Trajectory-guided Control Prediction for End-to-end Autonomous Driving: A Simple yet Strong Baseline](https://mlsanity.com/paper/2206.08129/) (2022)
- [MP3: A Unified Model to Map, Perceive, Predict and Plan](https://mlsanity.com/paper/2101.06806/) (2021)
- [Safety-Enhanced Autonomous Driving Using Interpretable Sensor Fusion Transformer](https://mlsanity.com/paper/2207.14024/) (2022)
- [End-to-End Urban Driving by Imitating a Reinforcement Learning Coach](https://mlsanity.com/paper/2108.08265/) (2021)
- [NEAT: Neural Attention Fields for End-to-End Autonomous Driving](https://mlsanity.com/paper/2109.04456/) (2021)
- [End-to-end Learning of Driving Models from Large-scale Video Datasets](https://mlsanity.com/paper/1612.01079/) (2016)
- [Focal and Global Knowledge Distillation for Detectors](https://mlsanity.com/paper/2111.11837/) (2021)
- [Learning from All Vehicles](https://mlsanity.com/paper/2203.11934/) (2022)
- [A Survey of End-to-End Driving: Architectures and Training Methods](https://mlsanity.com/paper/2003.06404/) (2020)
- [Knowledge Adaptation for Efficient Semantic Segmentation](https://mlsanity.com/paper/1903.04688/) (2019)
- [CIRL: Controllable Imitative Reinforcement Learning for Vision-based Self-driving](https://mlsanity.com/paper/1807.03776/) (2018)
- [LookOut: Diverse Multi-Future Prediction and Planning for Self-Driving](https://mlsanity.com/paper/2101.06547/) (2021)
- [Extract the Knowledge of Graph Neural Networks and Go Beyond it: An Effective Knowledge Distillation Framework](https://mlsanity.com/paper/2103.02885/) (2021)
- [BEVDistill: Cross-Modal BEV Distillation for Multi-View 3D Object Detection](https://mlsanity.com/paper/2211.09386/) (2022)

## Built on by (most cited first, 10 of 10)

- [A Survey on Vision-Language-Action Models for Autonomous Driving](https://mlsanity.com/paper/2506.24044/) (2025)
- [Keypoint-based Progressive Chain-of-Thought Distillation for LLMs](https://mlsanity.com/paper/2405.16064/) (2024)
- [DistillDrive: End-to-End Multi-Mode Autonomous Driving Distillation by Isomorphic Hetero-Source Planning Model](https://mlsanity.com/paper/2508.05402/) (2025)
- [FASIONAD++ : Integrating High-Level Instruction and Information Bottleneck in FAt-Slow fusION Systems for Enhanced Safety in Autonomous Driving with Adaptive Feedback](https://mlsanity.com/paper/2503.08162/) (2025)
- [VR-Drive: Viewpoint-Robust End-to-End Driving with Feed-Forward 3D Gaussian Splatting](https://mlsanity.com/paper/2510.23205/) (2025)
- [ExpertAD: Enhancing Autonomous Driving Systems with Mixture of Experts](https://mlsanity.com/paper/2511.11740/) (2025)
- [Application of Vision-Language Model to Pedestrians Behavior and Scene Understanding in Autonomous Driving](https://mlsanity.com/paper/2501.06680/) (2025)
- [MISTY: High-Throughput Motion Planning via Mixer-based Single-step Drifting](https://mlsanity.com/paper/2604.21489/) (2026)
- [Unveiling Transferability in Trajectory Prediction via Latent Scene Embeddings](https://mlsanity.com/paper/2606.30777/) (2026)
- [BucketKD: A Safety-Aware Bucket-Based Knowledge Distillation Framework for End-to-End Motion Planning](https://mlsanity.com/paper/2607.10565/) (2026)

## Abstract (arXiv)

End-to-end motion planning models equipped with deep neural networks have shown great potential for enabling full autonomous driving. However, the oversized neural networks render them impractical for deployment on resource-constrained systems, which unavoidably requires more computational time and resources during reference.To handle this, knowledge distillation offers a promising approach that compresses models by enabling a smaller student model to learn from a larger teacher model. Nevertheless, how to apply knowledge distillation to compress motion planners has not been explored so far. In this paper, we propose PlanKD, the first knowledge distillation framework tailored for compressing end-to-end motion planners. First, considering that driving scenes are inherently complex, often containing planning-irrelevant or even noisy information, transferring such information is not beneficial for the student planner. Thus, we design an information bottleneck based strategy to only distill planning-relevant information, rather than transfer all information indiscriminately. Second, different waypoints in an output planned trajectory may hold varying degrees of importance for motion planning, where a slight deviation in certain crucial waypoints might lead to a collision. Therefore, we devise a safety-aware waypoint-attentive distillation module that assigns adaptive weights to different waypoints based on the importance, to encourage the student to accurately mimic more crucial waypoints, thereby improving overall safety. Experiments demonstrate that our PlanKD can boost the performance of smaller planners by a large margin, and significantly reduce their reference time.