# CorrectAD: A Self-Correcting Agentic System to Improve End-to-end Planning in Autonomous Driving

arXiv: https://arxiv.org/abs/2511.13297 · HTML: https://mlsanity.com/paper/2511.13297/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Placed in Generative simulation for driving, one of 9 directions in End-to-end autonomous driving.
- Builds on 34 of its 47 references that are in the map.
- First posted on arXiv 17 Nov 2025.

## Placed in

- End-to-end autonomous driving / [Generative simulation for driving](https://mlsanity.com/driving/generative-simulation-for-driving/)
- LLM agents and tool use / [Multimodal and embodied agents](https://mlsanity.com/agents/multimodal-and-embodied-agents/)

## Builds on (most cited first, 30 of 34)

- [Exploring the Limits of Transfer Learning with a Unified Text-to-Text Transformer](https://mlsanity.com/paper/1910.10683/) (2019)
- [nuScenes: A multimodal dataset for autonomous driving](https://mlsanity.com/paper/1903.11027/) (2019)
- [GLIDE: Towards Photorealistic Image Generation and Editing with Text-Guided Diffusion Models](https://mlsanity.com/paper/2112.10741/) (2021)
- [Self-Refine: Iterative Refinement with Self-Feedback](https://mlsanity.com/paper/2303.17651/) (2023)
- [DreamBooth: Fine Tuning Text-to-Image Diffusion Models for Subject-Driven Generation](https://mlsanity.com/paper/2208.12242/) (2022)
- [Towards Accurate Generative Models of Video: A New Metric & Challenges](https://mlsanity.com/paper/1812.01717/) (2018)
- [GAIA-1: A Generative World Model for Autonomous Driving](https://mlsanity.com/paper/2309.17080/) (2023)
- [VAD: Vectorized Scene Representation for Efficient Autonomous Driving](https://mlsanity.com/paper/2303.12077/) (2023)
- [TransFuser: Imitation with Transformer-Based Sensor Fusion for Autonomous Driving](https://mlsanity.com/paper/2205.15997/) (2022)
- [ST-P3: End-to-end Vision-based Autonomous Driving via Spatial-Temporal Feature Learning](https://mlsanity.com/paper/2207.07601/) (2022)
- [SANA: Efficient High-Resolution Image Synthesis with Linear Diffusion Transformers](https://mlsanity.com/paper/2410.10629/) (2024)
- [Driving into the Future: Multiview Visual Forecasting and Planning with World Model for Autonomous Driving](https://mlsanity.com/paper/2311.17918/) (2023)
- [Flexible Diffusion Modeling of Long Videos](https://mlsanity.com/paper/2205.11495/) (2022)
- [VADv2: End-to-End Vectorized Autonomous Driving via Probabilistic Planning](https://mlsanity.com/paper/2402.13243/) (2024)
- [DriveDreamer: Towards Real-world-driven World Models for Autonomous Driving](https://mlsanity.com/paper/2309.09777/) (2023)
- [MagicDrive: Street View Generation with Diverse 3D Geometry Control](https://mlsanity.com/paper/2310.02601/) (2023)
- [Automatically Correcting Large Language Models: Surveying the landscape of diverse self-correction strategies](https://mlsanity.com/paper/2308.03188/) (2023)
- [DriveMLM: Aligning Multi-Modal Large Language Models with Behavioral Planning States for Autonomous Driving](https://mlsanity.com/paper/2312.09245/) (2023)
- [Street Gaussians: Modeling Dynamic Urban Scenes with Gaussian Splatting](https://mlsanity.com/paper/2401.01339/) (2024)
- [Panacea: Panoramic and Controllable Video Generation for Autonomous Driving](https://mlsanity.com/paper/2311.16813/) (2023)
- [PIXART-δ: Fast and Controllable Image Generation with Latent Consistency Models](https://mlsanity.com/paper/2401.05252/) (2024)
- [LLM4Drive: A Survey of Large Language Models for Autonomous Driving](https://mlsanity.com/paper/2311.01043/) (2023)
- [Can Large Language Models Really Improve by Self-critiquing Their Own Plans?](https://mlsanity.com/paper/2310.08118/) (2023)
- [ADriver-I: A General World Model for Autonomous Driving](https://mlsanity.com/paper/2311.13549/) (2023)
- [Street-View Image Generation from a Bird's-Eye View Layout](https://mlsanity.com/paper/2301.04634/) (2023)
- [BEVControl: Accurately Controlling Street-view Elements with Multi-perspective Consistency via BEV Sketch Layout](https://mlsanity.com/paper/2308.01661/) (2023)
- [WebPilot: A Versatile and Autonomous Multi-Agent System for Web Task Execution with Strategic Exploration](https://mlsanity.com/paper/2408.15978/) (2024)
- [Visual Point Cloud Forecasting enables Scalable Autonomous Driving](https://mlsanity.com/paper/2312.17655/) (2023)
- [WoVoGen: World Volume-aware Diffusion for Controllable Multi-camera Driving Scene Generation](https://mlsanity.com/paper/2312.02934/) (2023)
- [MagicDrive-V2: High-Resolution Long Video Generation for Autonomous Driving with Adaptive Control](https://mlsanity.com/paper/2411.13807/) (2024)

## Built on by (most cited first, 2 of 2)

- [MemHarness: Memory Is Reconstructed, Not Replayed](https://mlsanity.com/paper/2607.28272/) (2026)
- [BehaviorWorldGen: Closing the Loop between Action Models and World Simulators via Controllable Behavior-Aware Structured World Generation](https://mlsanity.com/paper/2608.22187/) (2026)

## Abstract (arXiv)

End-to-end planning methods are the de facto standard of the current autonomous driving system, while the robustness of the data-driven approaches suffers due to the notorious long-tail problem (i.e., rare but safety-critical failure cases). In this work, we explore whether recent diffusion-based video generation methods (a.k.a. world models), paired with structured 3D layouts, can enable a fully automated pipeline to self-correct such failure cases. We first introduce an agent to simulate the role of product manager, dubbed PM-Agent, which formulates data requirements to collect data similar to the failure cases. Then, we use a generative model that can simulate both data collection and annotation. However, existing generative models struggle to generate high-fidelity data conditioned on 3D layouts. To address this, we propose DriveSora, which can generate spatiotemporally consistent videos aligned with the 3D annotations requested by PM-Agent. We integrate these components into our self-correcting agentic system, CorrectAD. Importantly, our pipeline is an end-to-end model-agnostic and can be applied to improve any end-to-end planner. Evaluated on both nuScenes and a more challenging in-house dataset across multiple end-to-end planners, CorrectAD corrects 62.5% and 49.8% of failure cases, reducing collision rates by 39% and 27%, respectively.