mlsanityData to 14 Oct 2026

End-to-End Driving with Online Trajectory Evaluation via BEV World Model

arXiv 2504.01941 ↗First posted 2 Apr 2025cs.CVcited by 151

On the map: World models → World models for autonomous driving

also in 1 more
Abstract (arXiv)

End-to-end autonomous driving has achieved remarkable progress by integrating perception, prediction, and planning into a fully differentiable framework. Yet, to fully realize its potential, an effective online trajectory evaluation is indispensable to ensure safety. By forecasting the future outcomes of a given trajectory, trajectory evaluation becomes much more effective. This goal can be achieved by employing a world model to capture environmental dynamics and predict future states. Therefore, we propose an end-to-end driving framework WoTE, which leverages a BEV World model to predict future BEV states for Trajectory Evaluation. The proposed BEV world model is latency-efficient compared to image-level world models and can be seamlessly supervised using off-the-shelf BEV-space traffic simulators. We validate our framework on both the NAVSIM benchmark and the closed-loop Bench2Drive benchmark based on the CARLA simulator, achieving state-of-the-art performance. Code is released at https://github.com/liyingyanUCAS/WoTE.

Key facts. Cited by 151 papers in the map (data through 14 Oct 2026). Placed in World models for autonomous driving, one of 11 directions in World models. Builds on 46 of its 58 references that are in the map. First posted on arXiv 2 Apr 2025.

Builds on

46 of 58 references.

Closest ancestors · 13

Same direction, newest first

  1. 2025ReconDreamer++: Harmonizing Generative and Reconstructive Models for Driving Scene Representation24 Mar
  2. 2024StreetCrafter: Street View Synthesis with Controllable Video Diffusion Models17 Dec
  3. 2024FreeSim: Toward Free-viewpoint Camera Simulation in Driving Scenes4 Dec
  4. 2024DriveDreamer4D: World Models Are Effective Data Machines for 4D Driving Scene Representation17 Oct
  5. 2024DrivingDojo Dataset: Advancing Interactive and Knowledge-Enriched Driving World Model14 Oct
  6. 2024Enhancing End-to-End Autonomous Driving with Latent World Model12 Jun
  7. 2024Vista: A Generalizable Driving World Model with High Fidelity and Versatile Controllability27 May
  8. 2023Driving into the Future: Multiview Visual Forecasting and Planning with World Model for Autonomous Driving29 Nov
  9. 2023Waymax: An Accelerated, Data-Driven Simulator for Large-Scale Autonomous Driving Research12 Oct
  10. 2023GAIA-1: A Generative World Model for Autonomous Driving29 Sep
  11. 2023DriveDreamer: Towards Real-world-driven World Models for Autonomous Driving18 Sep
  12. 2021NuPlan: A closed-loop ML-based planning benchmark for autonomous vehicles22 Jun
1 more
  1. 2017CARLA: An Open Urban Driving Simulator10 Nov

Other references · 33

  1. 2021High-Resolution Image Synthesis with Latent Diffusion Modelscited by 18,863
  2. 2019nuScenes: A multimodal dataset for autonomous drivingcited by 4,523
  3. 2018Soft Actor-Critic Algorithms and Applicationscited by 1,240
  4. 2022Planning-oriented Autonomous Drivingcited by 1,087
  5. 2023VAD: Vectorized Scene Representation for Efficient Autonomous Drivingcited by 622
  6. 2023End-to-end Autonomous Driving: Challenges and Frontierscited by 490
  7. 2019Learning by Cheatingcited by 383
  8. 2021Multi-Modal Fusion Transformer for End-to-End Autonomous Drivingcited by 377
  9. 2022ST-P3: End-to-end Vision-based Autonomous Driving via Spatial-Temporal Feature Learningcited by 368
  10. 2024NAVSIM: Data-Driven Non-Reactive Autonomous Vehicle Simulation and Benchmarkingcited by 354
  11. 2024DiffusionDrive: Truncated Diffusion Model for End-to-End Autonomous Drivingcited by 334
  12. 2024VADv2: End-to-End Vectorized Autonomous Driving via Probabilistic Planningcited by 289
21 more
  1. 2024Bench2Drive: Towards Multi-Ability Benchmarking of Closed-Loop End-To-End Autonomous Drivingcited by 252
  2. 2024Hydra-MDP: End-to-end Multimodal Planning with Multi-target Hydra-Distillationcited by 249
  3. 2022Trajectory-guided Control Prediction for End-to-end Autonomous Driving: A Simple yet Strong Baselinecited by 248
  4. 2023Parting with Misconceptions about Learning-based Vehicle Motion Planningcited by 242
  5. 2023Rethinking the Open-Loop Evaluation of End-to-End Autonomous Driving in nuScenescited by 191
  6. 2020Perceive, Predict, and Plan: Safe Motion Planning Through Interpretable Semantic Representationscited by 153
  7. 2019End-to-End Model-Free Reinforcement Learning for Urban Driving using Implicit Affordancescited by 149
  8. 2020A Survey of End-to-End Driving: Architectures and Training Methodscited by 123
  9. 2021Learning to drive from a world on railscited by 114
  10. 2025AlphaDrive: Unleashing the Power of VLMs in Autonomous Driving via Reinforcement Learning and Reasoningcited by 108
  11. 2018Baidu Apollo EM Motion Plannercited by 100
  12. 2024DRAMA: An Efficient End-to-end Motion Planner for Autonomous Driving with Mambacited by 87
  13. 2025RAD: Training an End-to-End Driving Policy via Large-Scale 3DGS-based Reinforcement Learningcited by 79
  14. 2024FreeVS: Generative View Synthesis on Free Driving Trajectorycited by 53
  15. 2019Model-Predictive Policy Learning with Uncertainty Regularization for Driving in Dense Trafficcited by 50
  16. 2025Centaur: Robust End-to-End Autonomous Driving with Test-Time Trainingcited by 42
  17. 2025Hydra-NeXt: Robust Closed-Loop Driving with Open-Loop Trainingcited by 39
  18. 2023Fully Sparse Fusion for 3D Object Detectioncited by 29
  19. 2022Densely Constrained Depth Estimator for Monocular 3D Object Detectioncited by 27
  20. 2021UMBRELLA: Uncertainty-Aware Model-Based Offline Reinforcement Learning Leveraging Planningcited by 23
  21. 2022Policy Learning and Evaluation with Randomized Quasi-Monte Carlocited by 2

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2025: 41; 2026: 110.

151 papers.

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  1. 2025ReCogDrive: A Reinforced Cognitive Framework for End-to-End Autonomous Drivingcited by 198
  2. 2025DriveVLA-W0: World Models Amplify Data Scaling Law in Autonomous Drivingcited by 134
  3. 2025DriveMoE: Mixture-of-Experts for Vision-Language-Action Model in End-to-End Autonomous Drivingcited by 86
  4. 2025A Comprehensive Survey on World Models for Embodied AIcited by 68
  5. 2025AdaThinkDrive: Adaptive Thinking via Reinforcement Learning for Autonomous Drivingcited by 58
  6. 2025DiffusionDriveV2: Reinforcement Learning-Constrained Truncated Diffusion Modeling in End-to-End Autonomous Drivingcited by 56
  7. 2025A Survey: Learning Embodied Intelligence from Physical Simulators and World Modelscited by 51
  8. 2025DriveLaW:Unifying Planning and Video Generation in a Latent Driving Worldcited by 47
  9. 2026DSpark: Confidence-Scheduled Speculative Decoding with Semi-Autoregressive Generationcited by 45
  10. 2026Driving on Registerscited by 44
  11. 2025DriveDPO: Policy Learning via Safety DPO For End-to-End Autonomous Drivingcited by 39
  12. 2026SGDrive: Scene-to-Goal Hierarchical World Cognition for Autonomous Drivingcited by 38
38 more
  1. 2026DriveWorld-VLA: Unified Latent-Space World Modeling with Vision-Language-Action for Autonomous Drivingcited by 37
  2. 2025SimScale: Learning to Drive via Real-World Simulation at Scalecited by 36
  3. 2025From Forecasting to Planning: Policy World Model for Collaborative State-Action Predictioncited by 33
  4. 2025Vision-Language-Action Models for Autonomous Driving: Past, Present, and Futurecited by 33
  5. 2025IRL-VLA: Training an Vision-Language-Action Policy via Reward World Modelcited by 31
  6. 2025SpaceDrive: Infusing Spatial Awareness into VLM-based Autonomous Drivingcited by 28
  7. 2026LaST-VLA: Thinking in Latent Spatio-Temporal Space for Vision-Language-Action in Autonomous Drivingcited by 28
  8. 2026SparseDriveV2: Scoring is All You Need for End-to-End Autonomous Drivingcited by 26
  9. 2025MindDrive: A Vision-Language-Action Model for Autonomous Driving via Online Reinforcement Learningcited by 25
  10. 2026DriveVA: Video Action Models are Zero-Shot Driverscited by 23
  11. 2025StyleDrive: Towards Driving-Style Aware Benchmarking of End-To-End Autonomous Drivingcited by 21
  12. 2026VGGDrive: Empowering Vision-Language Models with Cross-View Geometric Grounding for Autonomous Drivingcited by 20
  13. 2026DriveFine: Refining-Augmented Masked Diffusion VLA for Precise and Robust Drivingcited by 19
  14. 2026Unleashing VLA Potentials in Autonomous Driving via Explicit Learning from Failurescited by 19
  15. 2025DIVER: Reinforced Diffusion Breaks Imitation Bottlenecks in End-to-End Autonomous Drivingcited by 17
  16. 2026DriveDreamer-Policy: A Geometry-Grounded World-Action Model for Unified Generation and Planningcited by 17
  17. 2026SpanVLA: Efficient Action Bridging and Learning from Negative-Recovery Samples for Vision-Language-Action Modelcited by 17
  18. 2026DriveFuture: Future-Aware Latent World Models for Autonomous Drivingcited by 17
  19. 2026Devil is in Narrow Policy: Unleashing Exploration in Driving VLA Modelscited by 15
  20. 2026EponaV2: Driving World Model with Comprehensive Future Reasoningcited by 15
  21. 2025ResAD: Normalized Residual Trajectory Modeling for End-to-End Autonomous Drivingcited by 14
  22. 2025AD-R1: Closed-Loop Reinforcement Learning for End-to-End Autonomous Driving with Impartial World Modelscited by 14
  23. 2026AutoDrive-P3: Unified Chain of Perception-Prediction-Planning Thought via Reinforcement Fine-Tuningcited by 14
  24. 2026DriveWAM: Video Generative Priors Enable Scalable World-Action Modeling for Autonomous Drivingcited by 14
  25. 2026VGGT-World: Transforming VGGT into an Autoregressive Geometry World Modelcited by 13
  26. 2026Bridging Scene Generation and Planning: Driving with World Model via Unifying Vision and Motion Representationcited by 13
  27. 2026DVGT-2: Vision-Geometry-Action Model for Autonomous Driving at Scalecited by 13
  28. 2025MindDrive: An All-in-One Framework Bridging World Models and Vision-Language Model for End-to-End Autonomous Drivingcited by 12
  29. 2026ExploreVLA: Dense World Modeling and Exploration for End-to-End Autonomous Drivingcited by 12
  30. 2026CoWorld-VLA: Thinking in a Multi-Expert World Model for Autonomous Drivingcited by 12
  31. 2026DynVLA: Learning World Dynamics for Action Reasoning in Autonomous Drivingcited by 11
  32. 2026Uni-World VLA: Interleaved World Modeling and Planning for Autonomous Drivingcited by 11
  33. 2026Metis: A Generalizable and Efficient World-Action Model for Autonomous Driving and Urban Navigationcited by 11
  34. 2026Qwen-RobotNav Technical Report: A Scalable Navigation Model Designed for an Agentic Navigation Systemcited by 11
  35. 2025DiffRefiner: Coarse to Fine Trajectory Planning via Diffusion Refinement with Semantic Interaction for End to End Autonomous Drivingcited by 10
  36. 2026FLARE: Learning Future-Aware Latent Representations from Vision-Language Models for Autonomous Drivingcited by 10
  37. 2025MTRDrive: Memory-Tool Synergistic Reasoning for Robust Autonomous Driving in Corner Casescited by 9
  38. 2026UNIVERSE: Unified Video Action Models for Autonomous Driving with Flexible Mask-Modulated Modality Generationcited by 9

50 most cited of 151 All 151 (JSON)

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  1. 2026ResWorld: Temporal Residual World Model for End-to-End Autonomous Driving
  2. 2025Future-Aware End-to-End Driving: Bidirectional Modeling of Trajectory Planning and Scene Evolution
  3. 2025World4Drive: End-to-End Autonomous Driving via Intention-aware Physical Latent World Model
  4. 2026Addressing the Waypoint-Action Gap in End-to-End Autonomous Driving via Vehicle Motion Models
  5. 2026OWMDrive: Causality-Aware End-to-End Autonomous Driving via 4D Occupancy World Model
  6. 2025A Survey of World Models for Autonomous Driving
  7. 2026Planning-Oriented End-to-End Autonomous Driving: Architectures, Evaluation, and Emerging Paradigms
  8. 2026IDOL: Inverse-Dynamics-Guided Future Prediction for End-to-End Autonomous Driving