mlsanityData to 14 Oct 2026

End-to-End Autonomous Driving through V2X Cooperation

arXiv 2404.00717 ↗First posted 31 Mar 2024cs.RO cs.CV cs.MAcited by 42

On the map: End-to-end autonomous driving → Cooperative and V2X driving

Abstract (arXiv)

Cooperatively utilizing both ego-vehicle and infrastructure sensor data via V2X communication has emerged as a promising approach for advanced autonomous driving. However, current research mainly focuses on improving individual modules, rather than taking end-to-end learning to optimize final planning performance, resulting in underutilized data potential. In this paper, we introduce UniV2X, a pioneering cooperative autonomous driving framework that seamlessly integrates all key driving modules across diverse views into a unified network. We propose a sparse-dense hybrid data transmission and fusion mechanism for effective vehicle-infrastructure cooperation, offering three advantages: 1) Effective for simultaneously enhancing agent perception, online mapping, and occupancy prediction, ultimately improving planning performance. 2) Transmission-friendly for practical and limited communication conditions. 3) Reliable data fusion with interpretability of this hybrid data. We implement UniV2X, as well as reproducing several benchmark methods, on the challenging DAIR-V2X, the real-world cooperative driving dataset. Experimental results demonstrate the effectiveness of UniV2X in significantly enhancing planning performance, as well as all intermediate output performance. The project is available at hrefhttps://github.com/AIR-THU/UniV2Xhttps://github.com/AIR-THU/UniV2X.

Key facts. Cited by 42 papers in the map (data through 14 Oct 2026). Placed in Cooperative and V2X driving, one of 9 directions in End-to-end autonomous driving. Builds on 55 of its 67 references that are in the map. First posted on arXiv 31 Mar 2024.

Builds on

55 of 67 references.

Closest ancestors · 1

Same direction, newest first

  1. 2022COOPERNAUT: End-to-End Driving with Cooperative Perception for Networked Vehicles4 May

Other references · 54

  1. 2020End-to-End Object Detection with Transformerscited by 7,414
  2. 2019nuScenes: A multimodal dataset for autonomous drivingcited by 4,523
  3. 2017CARLA: An Open Urban Driving Simulatorcited by 2,449
  4. 2022BEVFormer: Learning Bird's-Eye-View Representation from Multi-Camera Images via Spatiotemporal Transformerscited by 1,218
  5. 2022Planning-oriented Autonomous Drivingcited by 1,087
  6. 2016End to End Learning for Self-Driving Carscited by 1,009
  7. 2017End-to-end Driving via Conditional Imitation Learningcited by 485
  8. 2017Soft-NMS -- Improving Object Detection With One Line of Codecited by 382
  9. 2021Multi-Modal Fusion Transformer for End-to-End Autonomous Drivingcited by 377
  10. 2023Occ3D: A Large-Scale 3D Occupancy Prediction Benchmark for Autonomous Drivingcited by 332
  11. 2022V2X-ViT: Vehicle-to-Everything Cooperative Perception with Vision Transformercited by 320
  12. 2023SurroundOcc: Multi-Camera 3D Occupancy Prediction for Autonomous Drivingcited by 316
38 more
  1. 2021OPV2V: An Open Benchmark Dataset and Fusion Pipeline for Perception with Vehicle-to-Vehicle Communicationcited by 304
  2. 2020V2VNet: Vehicle-to-Vehicle Communication for Joint Perception and Predictioncited by 292
  3. 2018Learning to Drive in a Daycited by 273
  4. 2022DAIR-V2X: A Large-Scale Dataset for Vehicle-Infrastructure Cooperative 3D Object Detectioncited by 273
  5. 2022Where2comm: Communication-Efficient Collaborative Perception via Spatial Confidence Mapscited by 255
  6. 2022Trajectory-guided Control Prediction for End-to-end Autonomous Driving: A Simple yet Strong Baselinecited by 248
  7. 2021End-to-end Interpretable Neural Motion Plannercited by 242
  8. 2023Is Ego Status All You Need for Open-Loop End-to-End Autonomous Driving?cited by 242
  9. 2021FIERY: Future Instance Prediction in Bird's-Eye View from Surround Monocular Camerascited by 239
  10. 2022CoBEVT: Cooperative Bird's Eye View Semantic Segmentation with Sparse Transformerscited by 227
  11. 2022Safety-Enhanced Autonomous Driving Using Interpretable Sensor Fusion Transformercited by 212
  12. 2021Learning Distilled Collaboration Graph for Multi-Agent Perceptioncited by 194
  13. 2022BEVerse: Unified Perception and Prediction in Birds-Eye-View for Vision-Centric Autonomous Drivingcited by 191
  14. 2023Rethinking the Open-Loop Evaluation of End-to-End Autonomous Driving in nuScenescited by 191
  15. 2023Think Twice before Driving: Towards Scalable Decoders for End-to-End Autonomous Drivingcited by 169
  16. 2019Cooper: Cooperative Perception for Connected Autonomous Vehicles based on 3D Point Cloudscited by 165
  17. 2022V2X-Sim: Multi-Agent Collaborative Perception Dataset and Benchmark for Autonomous Drivingcited by 157
  18. 2020Perceive, Predict, and Plan: Safe Motion Planning Through Interpretable Semantic Representationscited by 153
  19. 2023V2X-Seq: A Large-Scale Sequential Dataset for Vehicle-Infrastructure Cooperative Perception and Forecastingcited by 114
  20. 2021Panoptic SegFormer: Delving Deeper into Panoptic Segmentation with Transformerscited by 109
  21. 2018CIRL: Controllable Imitative Reinforcement Learning for Vision-based Self-drivingcited by 97
  22. 2022Latency-Aware Collaborative Perceptioncited by 86
  23. 2022Rope3D: TheRoadside Perception Dataset for Autonomous Driving and Monocular 3D Object Detection Taskcited by 81
  24. 2023Collaboration Helps Camera Overtake LiDAR in 3D Detectioncited by 81
  25. 2023BEVHeight: A Robust Framework for Vision-based Roadside 3D Object Detectioncited by 75
  26. 2023DeepAccident: A Motion and Accident Prediction Benchmark for V2X Autonomous Drivingcited by 73
  27. 2020AB3DMOT: A Baseline for 3D Multi-Object Tracking and New Evaluation Metricscited by 63
  28. 2020DSDNet: Deep Structured self-Driving Networkcited by 62
  29. 2023Asynchrony-Robust Collaborative Perception via Bird's Eye View Flowcited by 58
  30. 2023Spatio-Temporal Domain Awareness for Multi-Agent Collaborative Perceptioncited by 52
  31. 2022A9-Dataset: Multi-Sensor Infrastructure-Based Dataset for Mobility Researchcited by 40
  32. 2024RCooper: A Real-world Large-scale Dataset for Roadside Cooperative Perceptioncited by 38
  33. 2024Collaborative Semantic Occupancy Prediction with Hybrid Feature Fusion in Connected Automated Vehiclescited by 33
  34. 2023Flow-Based Feature Fusion for Vehicle-Infrastructure Cooperative 3D Object Detectioncited by 31
  35. 2023BEVHeight++: Toward Robust Visual Centric 3D Object Detectioncited by 30
  36. 2023UMC: A Unified Bandwidth-efficient and Multi-resolution based Collaborative Perception Frameworkcited by 29
  37. 2023Vehicle-Infrastructure Cooperative 3D Object Detection via Feature Flow Predictioncited by 25
  38. 2022DOLPHINS: Dataset for Collaborative Perception enabled Harmonious and Interconnected Self-drivingcited by 21

50 most cited of 54 All 54 (JSON)

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2024: 5; 2025: 19; 2026: 18.

42 papers.

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  1. 2024V2X-VLM: End-to-End V2X Cooperative Autonomous Driving Through Large Vision-Language Modelscited by 47
  2. 2024V2XPnP: Vehicle-to-Everything Spatio-Temporal Fusion for Multi-Agent Perception and Predictioncited by 31
  3. 2024V2X-Radar: A Multi-modal Dataset with 4D Radar for Cooperative Perceptioncited by 22
  4. 2025Challenger: Affordable Adversarial Driving Video Generationcited by 16
  5. 2025Griffin: Aerial-Ground Cooperative Detection and Tracking Dataset and Benchmarkcited by 15
  6. 2024DSRC: Learning Density-insensitive and Semantic-aware Collaborative Representation against Corruptionscited by 13
  7. 2025CoopTrack: Exploring End-to-End Learning for Efficient Cooperative Sequential Perceptioncited by 12
  8. 2025CoopDETR: A Unified Cooperative Perception Framework for 3D Detection via Object Querycited by 9
  9. 2025Research Challenges and Progress in the End-to-End V2X Cooperative Autonomous Driving Competitioncited by 9
  10. 2025TurboTrain: Towards Efficient and Balanced Multi-Task Learning for Multi-Agent Perception and Predictioncited by 9
  11. 2025M3CAD: Towards Generic Cooperative Autonomous Driving Benchmarkcited by 5
  12. 2025Risk Map As Middleware: Towards Interpretable Cooperative End-to-end Autonomous Driving for Risk-Aware Planningcited by 5
30 more
  1. 2025DriveE2E: Closed-Loop Benchmark for End-to-End Autonomous Driving through Real-to-Simulationcited by 5
  2. 2026MDrive: Benchmarking Closed-Loop Cooperative Driving for End-to-End Multi-agent Systemscited by 5
  3. 2024LiDAR-based End-to-end Temporal Perception for Vehicle-Infrastructure Cooperationcited by 4
  4. 2025MIC-BEV: Multi-Infrastructure Camera Bird's-Eye-View Transformer with Relation-Aware Fusion for 3D Object Detectioncited by 4
  5. 2025SparseCoop: Cooperative Perception with Kinematic-Grounded Queriescited by 4
  6. 2025SEAL: Vision-Language Model-Based Safe End-to-End Cooperative Autonomous Driving with Adaptive Long-Tail Modelingcited by 3
  7. 2026AsyncBEV: Cross-modal Flow Alignment in Asynchronous 3D Object Detectioncited by 2
  8. 2026OmniV2X: A Generative Foundation Planner for Efficient End-to-End Cooperative Drivingcited by 2
  9. 2026OWMDrive: Causality-Aware End-to-End Autonomous Driving via 4D Occupancy World Modelcited by 2
  10. 2025SpaRC-AD: A Baseline for Radar-Camera Fusion in End-to-End Autonomous Drivingcited by 1
  11. 2025MAP: End-to-End Autonomous Driving with Map-Assisted Planningcited by 1
  12. 2025From Features to Reference Points: Lightweight and Adaptive Fusion for Cooperative Autonomous Drivingcited by 1
  13. 2026Long-SCOPE: Fully Sparse Long-Range Cooperative 3D Perceptioncited by 1
  14. 2026Defer to Plan: Adaptive Multi-Agent Fusion for End-to-End V2X Drivingcited by 1
  15. 2025Wireless Communication as an Information Sensor for Multi-agent Cooperative Perception: A Surveycited by 0
  16. 2025A Survey on Deep Multi-Task Learning in Connected Autonomous Vehiclescited by 0
  17. 2025Fault-Tolerant MARL for CAVs under Observation Perturbations for Highway On-Ramp Mergingcited by 0
  18. 2025LADY: Linear Attention for Autonomous Driving Efficiency without Transformerscited by 0
  19. 2026CooperDrive: Enhancing Driving Decisions Through Cooperative Perceptioncited by 0
  20. 2026One World, Dual Timeline: Decoupled Spatio-Temporal Gaussian Scene Graph for 4D Cooperative Driving Reconstructioncited by 0
  21. 2026CooperScene: Multi-Modal Cooperative Autonomy Benchmark with C-V2X Communication Characterizationcited by 0
  22. 2026BucketKD: A Safety-Aware Bucket-Based Knowledge Distillation Framework for End-to-End Motion Planningcited by 0
  23. 2026Towards Collaborative Joint Perception and Prediction: Framework, Baseline Evaluation, and Deployment Perspectivescited by 0
  24. 2026VIPS: Vehicle-Infrastructure Cooperative Planning Benchmark via Pseudo-Simulationcited by 0
  25. 2026LANTERN: A Closed-Loop Benchmark for VLM-Based Cooperative Driving with Temporally Grounded Warningscited by 0
  26. 2026Sim-to-Real Aware End-to-End Learning Environment for Micromobilitycited by 0
  27. 2026InfraVLA: Extending Vision-Language-Action Navigation with Infrastructure Camerascited by 0
  28. 2026CoVLM-Bench: A Real-World Benchmark for Cooperative Driving Question Answering and Planningcited by 0
  29. 2026Embodied Semantic Communication for Collective Autonomous Agents: A Tutorial on Representation, Wireless Delivery, and Closed-Loop Coordinationcited by 0
  30. 2026FFBL-Coop: Association-Decoupled Cooperative 3D Multi-Object Trackingcited by 0

Similar, not cited

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  1. 2024Unified End-to-End V2X Cooperative Autonomous Driving
  2. 2025UniMM-V2X: MoE-Enhanced Multi-Level Fusion for End-to-End Cooperative Autonomous Driving
  3. 2026V2X-WAM: A Cooperative World Action Model for End-to-End Autonomous Driving
  4. 2024Towards Collaborative Autonomous Driving: Simulation Platform and End-to-End System
  5. 2026Roadside-Cooperative Autonomous Driving: From Data Platform to Vision-Language End-to-End Reasoning
  6. 2026Multi-Agent Embodied Autonomous Driving (MAEAD): From V2X Information Exchange to Shared World Models
  7. 2023Interruption-Aware Cooperative Perception for V2X Communication-Aided Autonomous Driving
  8. 2023Selective Communication for Cooperative Perception in End-to-End Autonomous Driving