| ReasonNet: End-to-End Driving with Temporal and Global Reasoning | | 79.95 | 89.89 | 0.89 | ReasonNet | 2023-05-17 |
| Safety-Enhanced Autonomous Driving Using Interpretable Sensor Fusion Transformer | ✓ Link | 76.18 | 88.23 | 0.84 | InterFuser | 2022-07-28 |
| Trajectory-guided Control Prediction for End-to-end Autonomous Driving: A Simple yet Strong Baseline | ✓ Link | 75.14 | 85.63 | 0.87 | TCP | 2022-06-16 |
| Hidden Biases of End-to-End Driving Models | ✓ Link | 66.32 | 78.57 | 0.84 | TF++ WP | 2023-06-13 |
| Learning from All Vehicles | ✓ Link | 61.846 | 94.459 | 0.640 | Learning From All Vehicles (LAV) | 2022-03-22 |
| TransFuser: Imitation with Transformer-Based Sensor Fusion for Autonomous Driving | ✓ Link | 61.181 | 86.694 | 0.714 | TransFuser | 2022-05-31 |
| TransFuser: Imitation with Transformer-Based Sensor Fusion for Autonomous Driving | ✓ Link | 55.04 | 89.65 | 0.63 | TransFuser (Reproduced) | 2022-05-31 |
| Trajectory-guided Control Prediction for End-to-end Autonomous Driving: A Simple yet Strong Baseline | ✓ Link | 47.91 | 65.73 | 0.77 | TCP (Reproduced) | 2022-06-16 |
| TransFuser: Imitation with Transformer-Based Sensor Fusion for Autonomous Driving | ✓ Link | 45.20 | 66.31 | 0.72 | Latent TransFuser | 2022-05-31 |
| GRI: General Reinforced Imitation and its Application to Vision-Based Autonomous Driving | | 36.79 | 61.85 | 0.6 | GRIAD | 2021-11-16 |
| | 34.58 | 69.84 | 0.56 | Transfuser+ | |
| Expert Drivers for Autonomous Driving | | 34.58 | 69.84 | | TransFuser+ | 2021-09-27 |
| Safety-Enhanced Autonomous Driving Using Interpretable Sensor Fusion Transformer | ✓ Link | 34.15 | 74.79 | 0.45 | InterFuser (Reproduced) | 2022-07-28 |
| Learning to drive from a world on rails | ✓ Link | 31.37 | 57.65 | 0.56 | World on Rails | 2021-05-03 |
| End-to-End Model-Free Reinforcement Learning for Urban Driving using Implicit Affordances | ✓ Link | 24.98 | 46.97 | 0.52 | MaRLn | 2019-11-25 |
| NEAT: Neural Attention Fields for End-to-End Autonomous Driving | ✓ Link | 21.83 | 41.71 | 0.65 | NEAT | 2021-09-09 |
| Multi-Modal Fusion Transformer for End-to-End Autonomous Driving | ✓ Link | 16.93 | 51.82 | 0.42 | Transfuser | 2021-04-19 |
| Learning by Cheating | ✓ Link | 8.94 | 17.54 | 0.73 | LBC | 2019-12-27 |
| Exploring the Limitations of Behavior Cloning for Autonomous Driving | ✓ Link | 5.37 | 14.40 | 0.55 | CILRS | 2019-04-18 |