| []() | | 83 | 96 | 0.86 | DiffE2E | |
| Hidden Biases of End-to-End Driving Models | ✓ Link | 73 | 97 | 0.56 | TransFuser++ WP (TF++WP) | 2023-06-13 |
| DriveAdapter: Breaking the Coupling Barrier of Perception and Planning in End-to-End Autonomous Driving | ✓ Link | 71 | 88 | 0.85 | DriveAdapter+TCP | 2023-08-01 |
| []() | | 70 | 91 | 0.77 | DriveGPT4-V2 | |
| Using Diffusion Ensembles to Estimate Uncertainty for End-to-End Autonomous Driving | | 70 | 90 | 0.76 | EnDfuser + safety-rule | 2025-05-31 |
| Hidden Biases of End-to-End Driving Models | ✓ Link | 69 | 94 | 0.72 | TransFuser++ (TF++) | 2023-06-13 |
| Think Twice before Driving: Towards Scalable Decoders for End-to-End Autonomous Driving | ✓ Link | 67 | 77 | 0.84 | ThinkTwice | 2023-05-10 |
| DriveAdapter: Breaking the Coupling Barrier of Perception and Planning in End-to-End Autonomous Driving | ✓ Link | 59 | 82 | 0.68 | DriveAdapter | 2023-08-01 |
| PlanT: Explainable Planning Transformers via Object-Level Representations | ✓ Link | 58 | 88 | 0.65 | Perception PlanT | 2022-10-25 |
| Learning from All Vehicles | ✓ Link | 58 | 83 | 0.68 | Learning from all Vehicle v2 (LAV v2) | 2022-03-22 |
| Coaching a Teachable Student | ✓ Link | 58 | 79 | 0.77 | Coaching a Teachable Student (CaT) | 2023-06-16 |
| InteractionNet: Joint Planning and Prediction for Autonomous Driving with Transformers | ✓ Link | 51 | 87 | 0.60 | InteractionNet | 2023-09-07 |
| Trajectory-guided Control Prediction for End-to-end Autonomous Driving: A Simple yet Strong Baseline | ✓ Link | 48 | 72 | 0.65 | Trajectory-guided Control Prediction (TCP) | 2022-06-16 |
| TransFuser: Imitation with Transformer-Based Sensor Fusion for Autonomous Driving | ✓ Link | 47 | 93 | 0.50 | TransFuser (TF) | 2022-05-31 |
| Safety-Enhanced Autonomous Driving Using Interpretable Sensor Fusion Transformer | ✓ Link | 47 | 74 | 0.63 | Interfuser | 2022-07-28 |
| TransFuser: Imitation with Transformer-Based Sensor Fusion for Autonomous Driving | ✓ Link | 37 | 95 | 0.38 | Latent TransFuser (LTF) | 2022-05-31 |
| Learning from All Vehicles | ✓ Link | 33 | 70 | 0.51 | Learning from all Vehicles v1 (LAV v1) | 2022-03-22 |
| TransFuser: Imitation with Transformer-Based Sensor Fusion for Autonomous Driving | ✓ Link | 27 | 91 | 0.30 | Geometric Fusion (GF) | 2022-05-31 |
| NEAT: Neural Attention Fields for End-to-End Autonomous Driving | ✓ Link | 24 | 62 | 0.71 | Neural Attention Fields (NEAT) | 2021-09-09 |
| TransFuser: Imitation with Transformer-Based Sensor Fusion for Autonomous Driving | ✓ Link | 22 | 83 | 0.27 | Late Fusion (LF) | 2022-05-31 |
| Learning to drive from a world on rails | ✓ Link | 21 | 48 | 0.56 | World on Rails (WOR) | 2021-05-03 |