mlsanityData to 7 Oct 2026

Hydra-MDP: End-to-end Multimodal Planning with Multi-target Hydra-Distillation

arXiv 2406.06978 ↗First posted 11 Jun 2024cs.CVcited by 244

Not on the map. Why?

Cited by 206 in End-to-end autonomous driving, but placed by its own abstract, which didn’t fit.

Abstract (arXiv)

We propose Hydra-MDP, a novel paradigm employing multiple teachers in a teacher-student model. This approach uses knowledge distillation from both human and rule-based teachers to train the student model, which features a multi-head decoder to learn diverse trajectory candidates tailored to various evaluation metrics. With the knowledge of rule-based teachers, Hydra-MDP learns how the environment influences the planning in an end-to-end manner instead of resorting to non-differentiable post-processing. This method achieves the 1st place in the Navsim challenge, demonstrating significant improvements in generalization across diverse driving environments and conditions. More details by visiting urlhttps://github.com/NVlabs/Hydra-MDP.

Key facts. Cited by 244 papers in the map (data through 7 Oct 2026). Builds on 15 of its 18 references that are in the map. First posted on arXiv 11 Jun 2024.

Builds on

15 of 18 references.

References · 15

  1. 2017Attention Is All You Needcited by 59,932
  2. 2015Deep Residual Learning for Image Recognitioncited by 51,809
  3. 2014Microsoft COCO: Common Objects in Contextcited by 17,498
  4. 2024Depth Anything: Unleashing the Power of Large-Scale Unlabeled Datacited by 1,346
  5. 2022Planning-oriented Autonomous Drivingcited by 1,068
  6. 2023VAD: Vectorized Scene Representation for Efficient Autonomous Drivingcited by 613
  7. 2021NuPlan: A closed-loop ML-based planning benchmark for autonomous vehiclescited by 485
  8. 2022TransFuser: Imitation with Transformer-Based Sensor Fusion for Autonomous Drivingcited by 477
  9. 2023EVA-02: A Visual Representation for Neon Genesiscited by 377
  10. 2024VADv2: End-to-End Vectorized Autonomous Driving via Probabilistic Planningcited by 287
  11. 2021Is Pseudo-Lidar needed for Monocular 3D Object detection?cited by 248
  12. 2023Is Ego Status All You Need for Open-Loop End-to-End Autonomous Driving?cited by 242
3 more
  1. 2023Parting with Misconceptions about Learning-based Vehicle Motion Planningcited by 238
  2. 2019An Energy and GPU-Computation Efficient Backbone Network for Real-Time Object Detectioncited by 163
  3. 2024QuAD: Query-based Interpretable Neural Motion Planning for Autonomous Drivingcited by 11

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2024: 13; 2025: 86; 2026: 145.

244 papers.

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  1. 2024NAVSIM: Data-Driven Non-Reactive Autonomous Vehicle Simulation and Benchmarkingcited by 343
  2. 2024DiffusionDrive: Truncated Diffusion Model for End-to-End Autonomous Drivingcited by 324
  3. 2025AutoVLA: A Vision-Language-Action Model for End-to-End Autonomous Driving with Adaptive Reasoning and Reinforcement Fine-Tuningcited by 252
  4. 2025ReCogDrive: A Reinforced Cognitive Framework for End-to-End Autonomous Drivingcited by 190
  5. 2025End-to-End Driving with Online Trajectory Evaluation via BEV World Modelcited by 145
  6. 2025Pseudo-Simulation for Autonomous Drivingcited by 141
  7. 2025DriveVLA-W0: World Models Amplify Data Scaling Law in Autonomous Drivingcited by 127
  8. 2025GoalFlow: Goal-Driven Flow Matching for Multimodal Trajectories Generation in End-to-End Autonomous Drivingcited by 117
  9. 2025Cosmos-Transfer1: Conditional World Generation with Adaptive Multimodal Controlcited by 95
  10. 2025Hydra-MDP++: Advancing End-to-End Driving via Expert-Guided Hydra-Distillationcited by 93
  11. 2025DriveSuprim: Towards Precise Trajectory Selection for End-to-End Planningcited by 91
  12. 2025World4Drive: End-to-End Autonomous Driving via Intention-aware Physical Latent World Modelcited by 91
38 more
  1. 2024DRAMA: An Efficient End-to-end Motion Planner for Autonomous Driving with Mambacited by 87
  2. 2025Don't Shake the Wheel: Momentum-Aware Planning in End-to-End Autonomous Drivingcited by 84
  3. 2025RAD: Training an End-to-End Driving Policy via Large-Scale 3DGS-based Reinforcement Learningcited by 76
  4. 2025A Survey on Vision-Language-Action Models for Autonomous Drivingcited by 72
  5. 2025ARTEMIS: Autoregressive End-to-End Trajectory Planning with Mixture of Experts for Autonomous Drivingcited by 66
  6. 2025Generalized Trajectory Scoring for End-to-end Multimodal Planningcited by 63
  7. 2025AdaThinkDrive: Adaptive Thinking via Reinforcement Learning for Autonomous Drivingcited by 57
  8. 2024InfiniCube: Unbounded and Controllable Dynamic 3D Driving Scene Generation with World-Guided Video Modelscited by 53
  9. 2025DiffusionDriveV2: Reinforcement Learning-Constrained Truncated Diffusion Modeling in End-to-End Autonomous Drivingcited by 52
  10. 2024V2X-VLM: End-to-End V2X Cooperative Autonomous Driving Through Large Vision-Language Modelscited by 47
  11. 2025Centaur: Robust End-to-End Autonomous Driving with Test-Time Trainingcited by 41
  12. 2025iPad: Iterative Proposal-centric End-to-End Autonomous Drivingcited by 41
  13. 2025Hydra-NeXt: Robust Closed-Loop Driving with Open-Loop Trainingcited by 39
  14. 2025DriveDPO: Policy Learning via Safety DPO For End-to-End Autonomous Drivingcited by 39
  15. 2025RAP: 3D Rasterization Augmented End-to-End Planningcited by 39
  16. 2026Driving on Registerscited by 38
  17. 2025SimScale: Learning to Drive via Real-World Simulation at Scalecited by 34
  18. 2026SGDrive: Scene-to-Goal Hierarchical World Cognition for Autonomous Drivingcited by 34
  19. 2025Vision-Language-Action Models for Autonomous Driving: Past, Present, and Futurecited by 32
  20. 2025IRL-VLA: Training an Vision-Language-Action Policy via Reward World Modelcited by 31
  21. 2026DriveWorld-VLA: Unified Latent-Space World Modeling with Vision-Language-Action for Autonomous Drivingcited by 31
  22. 2025From Forecasting to Planning: Policy World Model for Collaborative State-Action Predictioncited by 29
  23. 2024End-to-End Autonomous Driving without Costly Modularization and 3D Manual Annotationcited by 27
  24. 2026Drive-JEPA: Video JEPA Meets Multimodal Trajectory Distillation for End-to-End Drivingcited by 26
  25. 2026LaST-VLA: Thinking in Latent Spatio-Temporal Space for Vision-Language-Action in Autonomous Drivingcited by 26
  26. 2025Discrete Diffusion for Reflective Vision-Language-Action Models in Autonomous Drivingcited by 24
  27. 2024Generalizing Motion Planners with Mixture of Experts for Autonomous Drivingcited by 22
  28. 2025GuideFlow: Constraint-Guided Flow Matching for Planning in End-to-End Autonomous Drivingcited by 21
  29. 2026SparseDriveV2: Scoring is All You Need for End-to-End Autonomous Drivingcited by 21
  30. 2025Reinforced Refinement with Self-Aware Expansion for End-to-End Autonomous Drivingcited by 19
  31. 2025WorldRFT: Latent World Model Planning with Reinforcement Fine-Tuning for Autonomous Drivingcited by 19
  32. 2026VGGDrive: Empowering Vision-Language Models with Cross-View Geometric Grounding for Autonomous Drivingcited by 19
  33. 2026DriveFine: Refining-Augmented Masked Diffusion VLA for Precise and Robust Drivingcited by 18
  34. 2025DriveAction: A Benchmark for Exploring Human-like Driving Decisions in VLA Modelscited by 17
  35. 2025DIVER: Reinforced Diffusion Breaks Imitation Bottlenecks in End-to-End Autonomous Drivingcited by 17
  36. 2025BridgeDrive: Diffusion Bridge Policy for Closed-Loop Trajectory Planning in Autonomous Drivingcited by 17
  37. 2026Unleashing VLA Potentials in Autonomous Driving via Explicit Learning from Failurescited by 17
  38. 2025Learning Personalized Driving Styles via Reinforcement Learning from Human Feedbackcited by 16

50 most cited of 244 All 244 (JSON)