# A Survey on End-to-End Autonomous Driving Training from the Perspectives of Data, Strategy, and Platform

arXiv: https://arxiv.org/abs/2610.00926 · HTML: https://mlsanity.com/paper/2610.00926/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Placed in End-to-end system architecture, one of 9 directions in End-to-end autonomous driving.
- Builds on 183 of its 264 references that are in the map.
- First posted on arXiv 1 Oct 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 183)

- [Denoising Diffusion Probabilistic Models](https://mlsanity.com/paper/2006.11239/) (2020)
- [nuScenes: A multimodal dataset for autonomous driving](https://mlsanity.com/paper/1903.11027/) (2019)
- [Diffusion Policy: Visuomotor Policy Learning via Action Diffusion](https://mlsanity.com/paper/2303.04137/) (2023)
- [Scalability in Perception for Autonomous Driving: Waymo Open Dataset](https://mlsanity.com/paper/1912.04838/) (2019)
- [CARLA: An Open Urban Driving Simulator](https://mlsanity.com/paper/1711.03938/) (2017)
- [Masked-attention Mask Transformer for Universal Image Segmentation](https://mlsanity.com/paper/2112.01527/) (2021)
- [GShard: Scaling Giant Models with Conditional Computation and Automatic Sharding](https://mlsanity.com/paper/2006.16668/) (2020)
- [Generative Adversarial Imitation Learning](https://mlsanity.com/paper/1606.03476/) (2016)
- [LlamaFactory: Unified Efficient Fine-Tuning of 100+ Language Models](https://mlsanity.com/paper/2403.13372/) (2024)
- [ZeRO: Memory Optimizations Toward Training Trillion Parameter Models](https://mlsanity.com/paper/1910.02054/) (2019)
- [Per-Pixel Classification is Not All You Need for Semantic Segmentation](https://mlsanity.com/paper/2107.06278/) (2021)
- [Planning-oriented Autonomous Driving](https://mlsanity.com/paper/2212.10156/) (2022)
- [End to End Learning for Self-Driving Cars](https://mlsanity.com/paper/1604.07316/) (2016)
- [A Survey on Multimodal Large Language Models](https://mlsanity.com/paper/2306.13549/) (2023)
- [Argoverse 2: Next Generation Datasets for Self-Driving Perception and Forecasting](https://mlsanity.com/paper/2301.00493/) (2023)
- [GAIA-1: A Generative World Model for Autonomous Driving](https://mlsanity.com/paper/2309.17080/) (2023)
- [Efficient Large-Scale Language Model Training on GPU Clusters Using Megatron-LM](https://mlsanity.com/paper/2104.04473/) (2021)
- [DriveLM: Driving with Graph Visual Question Answering](https://mlsanity.com/paper/2312.14150/) (2023)
- [NuPlan: A closed-loop ML-based planning benchmark for autonomous vehicles](https://mlsanity.com/paper/2106.11810/) (2021)
- [Behavioral Cloning from Observation](https://mlsanity.com/paper/1805.01954/) (2018)
- [End-to-end Autonomous Driving: Challenges and Frontiers](https://mlsanity.com/paper/2306.16927/) (2023)
- [DriveVLM: The Convergence of Autonomous Driving and Large Vision-Language Models](https://mlsanity.com/paper/2402.12289/) (2024)
- [Scaling Out-of-Distribution Detection for Real-World Settings](https://mlsanity.com/paper/1911.11132/) (2019)
- [Implicit Behavioral Cloning](https://mlsanity.com/paper/2109.00137/) (2021)
- [DeepSpeed-MoE: Advancing Mixture-of-Experts Inference and Training to Power Next-Generation AI Scale](https://mlsanity.com/paper/2201.05596/) (2022)
- [Planning to Explore via Self-Supervised World Models](https://mlsanity.com/paper/2005.05960/) (2020)
- [Vista: A Generalizable Driving World Model with High Fidelity and Versatile Controllability](https://mlsanity.com/paper/2405.17398/) (2024)
- [Exploring the Limitations of Behavior Cloning for Autonomous Driving](https://mlsanity.com/paper/1904.08980/) (2019)
- [DiffusionDrive: Truncated Diffusion Model for End-to-End Autonomous Driving](https://mlsanity.com/paper/2411.15139/) (2024)
- [V2X-ViT: Vehicle-to-Everything Cooperative Perception with Vision Transformer](https://mlsanity.com/paper/2203.10638/) (2022)

## Abstract (arXiv)

Autonomous driving is a cornerstone technology for the future of intelligent transportation, where end-to-end learning has emerged as a transformative paradigm that directly maps multimodal sensory inputs to driving actions through unified differentiable models. While offering advantages, the effectiveness of end-to-end autonomous driving (E2E-AD) is ultimately determined by the quality of its training ecosystem. This paper provides a comprehensive review of training methods and ecosystem for E2E-AD. We introduce a Data-Strategy-Platform taxonomy that conceptualizes training as an interdependent system. The data layer defines what can be learned, the strategy layer governs how learning aligns with driving objectives, and the platform layer supports scalability and continuous evolution. Within this framework, we survey recent advances across data-centric pipelines, learning paradigms, and training infrastructures, and analyze their interplay in shaping model performance, robustness, and deployability. Finally, we reflect on current limitations and articulate a forward-looking vision that emphasizes a shift from data quantity to data value, from isolated optimization to foundation-driven generalization, and from static training to integrated training-testing loops, aiming toward robust, scalable, and trustworthy autonomous driving systems. We maintain a continuously updated repository tracking cutting-edge literature and works at hrefhttps://github.com/Jiaaqiliu/Awesome-Training-Ecosystem-for-E2E-ADOur Project Page.