# Deconfounded Lifelong Learning for Autonomous Driving via Dynamic Knowledge Spaces

arXiv: https://arxiv.org/abs/2603.14354 · HTML: https://mlsanity.com/paper/2603.14354/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Placed in End-to-end system architecture, one of 9 directions in End-to-end autonomous driving.
- Builds on 45 of its 57 references that are in the map.
- First posted on arXiv 15 Mar 2026.

## Placed in

- End-to-end autonomous driving / [End-to-end system architecture](https://mlsanity.com/driving/end-to-end-system-architecture/)

## Builds on (most cited first, 30 of 45)

- [Generative Adversarial Networks](https://mlsanity.com/paper/2203.00667/) (2022)
- [Overcoming catastrophic forgetting in neural networks](https://mlsanity.com/paper/1612.00796/) (2016)
- [Learning without Forgetting](https://mlsanity.com/paper/1606.09282/) (2016)
- [CARLA: An Open Urban Driving Simulator](https://mlsanity.com/paper/1711.03938/) (2017)
- [Gradient Episodic Memory for Continual Learning](https://mlsanity.com/paper/1706.08840/) (2017)
- [LIBERO: Benchmarking Knowledge Transfer for Lifelong Robot Learning](https://mlsanity.com/paper/2306.03310/) (2023)
- [Progressive Neural Networks](https://mlsanity.com/paper/1606.04671/) (2016)
- [Continual Lifelong Learning with Neural Networks: A Review](https://mlsanity.com/paper/1802.07569/) (2018)
- [Continual Learning with Deep Generative Replay](https://mlsanity.com/paper/1705.08690/) (2017)
- [Memory Aware Synapses: Learning what (not) to forget](https://mlsanity.com/paper/1711.09601/) (2017)
- [Planning-oriented Autonomous Driving](https://mlsanity.com/paper/2212.10156/) (2022)
- [Designing Network Design Spaces](https://mlsanity.com/paper/2003.13678/) (2020)
- [PackNet: Adding Multiple Tasks to a Single Network by Iterative Pruning](https://mlsanity.com/paper/1711.05769/) (2017)
- [CenterNet: Keypoint Triplets for Object Detection](https://mlsanity.com/paper/1904.08189/) (2019)
- [VAD: Vectorized Scene Representation for Efficient Autonomous Driving](https://mlsanity.com/paper/2303.12077/) (2023)
- [End-to-End Incremental Learning](https://mlsanity.com/paper/1807.09536/) (2018)
- [End-to-end Autonomous Driving: Challenges and Frontiers](https://mlsanity.com/paper/2306.16927/) (2023)
- [TransFuser: Imitation with Transformer-Based Sensor Fusion for Autonomous Driving](https://mlsanity.com/paper/2205.15997/) (2022)
- [Learning by Cheating](https://mlsanity.com/paper/1912.12294/) (2019)
- [Expert Gate: Lifelong Learning with a Network of Experts](https://mlsanity.com/paper/1611.06194/) (2016)
- [DiffusionDrive: Truncated Diffusion Model for End-to-End Autonomous Driving](https://mlsanity.com/paper/2411.15139/) (2024)
- [Causal Confusion in Imitation Learning](https://mlsanity.com/paper/1905.11979/) (2019)
- [Bench2Drive: Towards Multi-Ability Benchmarking of Closed-Loop End-To-End Autonomous Driving](https://mlsanity.com/paper/2406.03877/) (2024)
- [Trajectory-guided Control Prediction for End-to-end Autonomous Driving: A Simple yet Strong Baseline](https://mlsanity.com/paper/2206.08129/) (2022)
- [Safety-Enhanced Autonomous Driving Using Interpretable Sensor Fusion Transformer](https://mlsanity.com/paper/2207.14024/) (2022)
- [Rethinking the Open-Loop Evaluation of End-to-End Autonomous Driving in nuScenes](https://mlsanity.com/paper/2305.10430/) (2023)
- [ORION: A Holistic End-to-End Autonomous Driving Framework by Vision-Language Instructed Action Generation](https://mlsanity.com/paper/2503.19755/) (2025)
- [FearNet: Brain-Inspired Model for Incremental Learning](https://mlsanity.com/paper/1711.10563/) (2017)
- [NEAT: Neural Attention Fields for End-to-End Autonomous Driving](https://mlsanity.com/paper/2109.04456/) (2021)
- [Think Twice before Driving: Towards Scalable Decoders for End-to-End Autonomous Driving](https://mlsanity.com/paper/2305.06242/) (2023)

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

- [BLUE: Toward Better Language Use in Efficient Vision-Language-Action Models for Autonomous Driving](https://mlsanity.com/paper/2606.08684/) (2026)
- [CoLT-Drive: Counterfactual Long-Tail Benchmarking and Knowledge-Preserving Adaptation for Driving Affordance Prediction](https://mlsanity.com/paper/2609.00242/) (2026)

## Abstract (arXiv)

End-to-End autonomous driving (E2E-AD) systems face challenges in lifelong learning, including catastrophic forgetting, difficulty in knowledge transfer across diverse scenarios, and spurious correlations between unobservable confounders and true driving intents. To address these issues, we propose DeLL, a Deconfounded Lifelong Learning framework that integrates a Dirichlet process mixture model (DPMM) with the front-door adjustment mechanism from causal inference. The DPMM is employed to construct two dynamic knowledge spaces: a trajectory knowledge space for clustering explicit driving behaviors and an implicit feature knowledge space for discovering latent driving abilities. Leveraging the non-parametric Bayesian nature of DPMM, our framework enables adaptive expansion and incremental updating of knowledge without predefining the number of clusters, thereby mitigating catastrophic forgetting. Meanwhile, the front-door adjustment mechanism utilizes the DPMM-derived knowledge as mediators to deconfound spurious correlations, such as those induced by sensor noise or environmental changes, and enhances the causal expressiveness of the learned representations. Additionally, we introduce an evolutionary trajectory decoder that enables non-autoregressive planning. To evaluate the lifelong learning performance of E2E-AD, we propose new evaluation protocols and metrics based on Bench2Drive. Extensive evaluations in the closed-loop CARLA simulator demonstrate that our framework significantly improves adaptability to new driving scenarios and overall driving performance, while effectively retaining previously acquired knowledge. Code: https://github.com/Mooncakebro/DeLL