mlsanityData to 7 Oct 2026

Driving on Registers

arXiv 2601.05083 ↗First posted 8 Jan 2026cs.CV cs.AI cs.ROcited by 38

On the map: End-to-end autonomous driving → End-to-end system architecture

Abstract (arXiv)

We present DrivoR, a simple and efficient transformer-based architecture for end-to-end autonomous driving. Our approach builds on pretrained Vision Transformers (ViTs) and introduces camera-aware register tokens that compress multi-camera features into a compact scene representation, significantly reducing downstream computation without sacrificing accuracy. These tokens drive two lightweight transformer decoders that generate and then score candidate trajectories. The scoring decoder learns to mimic an oracle and predicts interpretable sub-scores representing aspects such as safety, comfort, and efficiency, enabling behavior-conditioned driving at inference. Despite its minimal design, DrivoR outperforms or matches strong contemporary baselines across NAVSIM-v1, NAVSIM-v2, and the photorealistic closed-loop HUGSIM benchmark. Our results show that a pure-transformer architecture, combined with targeted token compression, is sufficient for accurate, efficient, and adaptive end-to-end driving. Code and checkpoints will be made available via the project page.

Key facts. Cited by 38 papers in the map (data through 7 Oct 2026). Placed in End-to-end system architecture, one of 9 directions in End-to-end autonomous driving. Builds on 55 of its 62 references that are in the map. First posted on arXiv 8 Jan 2026.

Builds on

55 of 62 references.

Closest ancestors · 13

Same direction, newest first

  1. 2025ResAD: Normalized Residual Trajectory Modeling for End-to-End Autonomous Driving9 Oct
  2. 2025DistillDrive: End-to-End Multi-Mode Autonomous Driving Distillation by Isomorphic Hetero-Source Planning Model7 Aug
  3. 2025PRIX: Learning to Plan from Raw Pixels for End-to-End Autonomous Driving23 Jul
  4. 2025World4Drive: End-to-End Autonomous Driving via Intention-aware Physical Latent World Model1 Jul
  5. 2025iPad: Iterative Proposal-centric End-to-End Autonomous Driving21 May
  6. 2025End-to-End Driving with Online Trajectory Evaluation via BEV World Model2 Apr
  7. 2025Hydra-MDP++: Advancing End-to-End Driving via Expert-Guided Hydra-Distillation17 Mar
  8. 2025Centaur: Robust End-to-End Autonomous Driving with Test-Time Training14 Mar
  9. 2025DriveTransformer: Unified Transformer for Scalable End-to-End Autonomous Driving7 Mar
  10. 2024DRAMA: An Efficient End-to-end Motion Planner for Autonomous Driving with Mamba7 Aug
  11. 2024NAVSIM: Data-Driven Non-Reactive Autonomous Vehicle Simulation and Benchmarking21 Jun
  12. 2022TransFuser: Imitation with Transformer-Based Sensor Fusion for Autonomous Driving31 May
1 more
  1. 2021NuPlan: A closed-loop ML-based planning benchmark for autonomous vehicles22 Jun

Other references · 42

  1. 2017Attention Is All You Needcited by 59,932
  2. 2020An Image is Worth 16x16 Words: Transformers for Image Recognition at Scalecited by 29,915
  3. 2023DINOv2: Learning Robust Visual Features without Supervisioncited by 7,764
  4. 2019nuScenes: A multimodal dataset for autonomous drivingcited by 4,485
  5. 2019Scalability in Perception for Autonomous Driving: Waymo Open Datasetcited by 2,436
  6. 2021Perceiver: General Perception with Iterative Attentioncited by 1,089
  7. 2022Planning-oriented Autonomous Drivingcited by 1,068
  8. 2022Token Merging: Your ViT But Fastercited by 995
  9. 2023Vision Transformers Need Registerscited by 844
  10. 2019Big Transfer (BiT): General Visual Representation Learningcited by 766
  11. 2022EVA: Exploring the Limits of Masked Visual Representation Learning at Scalecited by 685
  12. 2021Perceiver IO: A General Architecture for Structured Inputs & Outputscited by 616
30 more
  1. 2023VAD: Vectorized Scene Representation for Efficient Autonomous Drivingcited by 613
  2. 2021KITTI-360: A Novel Dataset and Benchmarks for Urban Scene Understanding in 2D and 3Dcited by 570
  3. 2024DiffusionDrive: Truncated Diffusion Model for End-to-End Autonomous Drivingcited by 324
  4. 2024An Image is Worth 32 Tokens for Reconstruction and Generationcited by 295
  5. 2024VADv2: End-to-End Vectorized Autonomous Driving via Probabilistic Planningcited by 287
  6. 2025AutoVLA: A Vision-Language-Action Model for End-to-End Autonomous Driving with Adaptive Reasoning and Reinforcement Fine-Tuningcited by 252
  7. 2024Hydra-MDP: End-to-end Multimodal Planning with Multi-target Hydra-Distillationcited by 244
  8. 2023Parting with Misconceptions about Learning-based Vehicle Motion Planningcited by 238
  9. 2025ReCogDrive: A Reinforced Cognitive Framework for End-to-End Autonomous Drivingcited by 190
  10. 2021PandaSet: Advanced Sensor Suite Dataset for Autonomous Drivingcited by 186
  11. 2019An Energy and GPU-Computation Efficient Backbone Network for Real-Time Object Detectioncited by 163
  12. 2025Pseudo-Simulation for Autonomous Drivingcited by 141
  13. 2025Alpamayo-R1: Bridging Reasoning and Action Prediction for Generalizable Autonomous Driving in the Long Tailcited by 136
  14. 2025Unified Vision-Language-Action Modelcited by 128
  15. 2025DriveVLA-W0: World Models Amplify Data Scaling Law in Autonomous Drivingcited by 127
  16. 2025GoalFlow: Goal-Driven Flow Matching for Multimodal Trajectories Generation in End-to-End Autonomous Drivingcited by 117
  17. 2024DrivingGPT: Unifying Driving World Modeling and Planning with Multi-modal Autoregressive Transformerscited by 96
  18. 2025DriveSuprim: Towards Precise Trajectory Selection for End-to-End Planningcited by 91
  19. 2024HUGSIM: A Real-Time, Photo-Realistic and Closed-Loop Simulator for Autonomous Drivingcited by 84
  20. 2025Generalized Trajectory Scoring for End-to-end Multimodal Planningcited by 63
  21. 2025RAP: 3D Rasterization Augmented End-to-End Planningcited by 39
  22. 2025SimScale: Learning to Drive via Real-World Simulation at Scalecited by 34
  23. 2024CtRL-Sim: Reactive and Controllable Driving Agents with Offline Reinforcement Learningcited by 26
  24. 2025Future-Aware End-to-End Driving: Bidirectional Modeling of Trajectory Planning and Scene Evolutioncited by 22
  25. 2025DriveX: Omni Scene Modeling for Learning Generalizable World Knowledge in Autonomous Drivingcited by 20
  26. 2025Learning Personalized Driving Styles via Reinforcement Learning from Human Feedbackcited by 16
  27. 2025Zero-Human Demonstration End-to-end Autonomous Driving with Trajectory Scorercited by 16
  28. 2024Robust Bird's Eye View Segmentation by Adapting DINOv2cited by 6
  29. 2025Efficient Multi-Camera Tokenization with Triplanes for End-to-End Drivingcited by 6
  30. 2024SCaRL- A Synthetic Multi-Modal Dataset for Autonomous Drivingcited by 4

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2026: 38.

38 papers.

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  1. 2026Drive-JEPA: Video JEPA Meets Multimodal Trajectory Distillation for End-to-End Drivingcited by 26
  2. 2026DriveFine: Refining-Augmented Masked Diffusion VLA for Precise and Robust Drivingcited by 18
  3. 2026DriveFuture: Future-Aware Latent World Models for Autonomous Drivingcited by 15
  4. 2026EponaV2: Driving World Model with Comprehensive Future Reasoningcited by 12
  5. 2026Metis: A Generalizable and Efficient World-Action Model for Autonomous Driving and Urban Navigationcited by 10
  6. 2026BridgeSim: Unveiling the OL-CL Gap in End-to-End Autonomous Drivingcited by 9
  7. 2026CLOVER: Closed-Loop Value Estimation and Ranking for End-to-End Autonomous Driving Planningcited by 9
  8. 2026Test-Time Trajectory Optimization for Autonomous Drivingcited by 7
  9. 2026MDrive: Benchmarking Closed-Loop Cooperative Driving for End-to-End Multi-agent Systemscited by 4
  10. 2026Scaling Self-Play for End-to-End Drivingcited by 4
  11. 2026ChainFlow-VLA: Causal Flow Planning with Vision-Language Modelscited by 3
  12. 2026DA-WAM: Decision-Aligned Future Latents for Driving World Modelscited by 3
26 more
  1. 2026CLEAR: Cognition and Latent Evaluation for Adaptive Routing in End-to-End Autonomous Drivingcited by 2
  2. 2026Pictura: Perspective-View Self-Play at Scale for Drivingcited by 2
  3. 2026From Representational Complementarity to Dual Systems: Synergizing VLM and Vision-Only Backbones for End-to-End Drivingcited by 1
  4. 2026NTR: Neural Token Reconstruction for Scene Token Bottleneck in End-to-End Drivingcited by 1
  5. 2026DriveReward: A Comprehensive Dataset and Generative Vision-Language Reward Model for Autonomous Drivingcited by 1
  6. 2026FlowR2A: Learning Reward-to-Action Distribution for Multimodal Driving Planningcited by 1
  7. 2026PriorEye: Geospatial Visual Priors for End-to-End Autonomous Drivingcited by 1
  8. 2026DriveVer: Lightweight Trajectory Evaluator as Test-Time Verifier for Autonomous Drivingcited by 1
  9. 2026Teaching Vision-Language-Action Models What to See and Where to Lookcited by 1
  10. 2026Large Discrete Policy: Advancing Explicit Behavior Modeling with Stochastic Iterative Scoringcited by 1
  11. 2026Threat-guided Policy-aware Scene Perturbation for Safe Autonomous Driving with Online Reinforcement Learningcited by 0
  12. 2026Plug-and-Play Traffic Element Awareness for End-to-End Autonomous Drivingcited by 0
  13. 2026Planning-Oriented End-to-End Autonomous Driving: Architectures, Evaluation, and Emerging Paradigmscited by 0
  14. 2026SkyDrive: Learning to Drive in a New City from Aerial Traffic Monitoringcited by 0
  15. 2026Driving on Memorycited by 0
  16. 2026Designing Versatile Samples for Learned Trajectory Scoringcited by 0
  17. 2026DriveZero: End-to-End Driving Beyond Human Demonstrationscited by 0
  18. 2026Risk-Aware Occupancy for Safety-Oriented End-to-End Autonomous Drivingcited by 0
  19. 2026NavSafe-∞: Benchmarking Closed-Loop Driving Safety in Photorealistic Environmentscited by 0
  20. 2026DreamStream: Towards Policy-Oriented Generative Simulation for End-to-End Drivingcited by 0
  21. 2026Evaluation Is All You Need for Multi-Modal Autonomous Drivingcited by 0
  22. 2026Guiding End-to-End Driving Models with Endpoint-Constrained Trajectory Optimizationcited by 0
  23. 2026Progressive Risk Estimation for Accident Anticipationcited by 0
  24. 2026AD-E2E-JEPA: A Joint-Embedding Predictive Architecture For End-to-End Autonomous Drivingcited by 0
  25. 2026World4Scorer: Outcome-Grounded World Modeling for Autonomous Drivingcited by 0
  26. 2026ExceptionDrive: A Planning-Oriented Counterfactual Corner-Case Benchmark for Autonomous Drivingcited by 0

Similar, not cited

Close in wording, no citation either way

  1. 2026FROST-Drive: Scalable and Efficient End-to-End Driving with a Frozen Vision Encoder
  2. 2026FlashDrive: Flash Vision-Language-Action Inference for Autonomous Driving
  3. 2026FIVE-VLA: Fast and EffectIVE Autonomous Driving with Recurrent Action Memory
  4. 2023Think Twice before Driving: Towards Scalable Decoders for End-to-End Autonomous Driving
  5. 2026Fast-dDrive: Efficient Block-Diffusion VLM for Autonomous Driving
  6. 2023LeTFuser: Light-weight End-to-end Transformer-Based Sensor Fusion for Autonomous Driving with Multi-Task Learning
  7. 2026Reasoning-aware Speculative Decoding for Efficient Vision-Language-Action Models in Autonomous Driving
  8. 2026DriveMamba: Task-Centric Scalable State Space Model for Efficient End-to-End Autonomous Driving