wjl2244/Awesome-End-to-End-Autonomous-Driving

Awesome paper list with code about End to End Autonomous Driving in NAVSIM Benchmark

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updated Jun 18, 2026

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Awesome End-to-end Autonomous Driving Papers

📕Paper List: End-to-End Autonomous Driving on NavSim

🚗This repository maintains a curated list of academic papers that implement and evaluate end-to-end autonomous driving models on the NavSim simulation benchmark. The goal is to track progress and compare methods within this benchmark setting.

If you find this repository useful, please giving this list a star ⭐. Feel free to share it with others!

📌 Table of Contents

NavSimv2 navtest
NavSimv2 navhard
NavSimv1 navtest

NavSimv2 navtest

Method	PDMS	Venue	Date	Code	Title
BeyondDrive	90.5	ECCV 2026	19/05/2026	Github	Beyond Imitation: Learning Safe End-to-End Autonomous Driving from Hard Negatives
CLOVER	90.4	arXiv	15/05/2026	Github	CLOVER: Closed-Loop Value Estimation and Ranking for End-to-End Autonomous Driving Planning
LTFv7	90.1	ECCV 2026	19/05/2026	Github	Beyond Imitation: Learning Safe End-to-End Autonomous Driving from Hard Negatives
WAM-Diff	89.7	arXiv	11/12/2025	Github	WAM-Diff: A Masked Diffusion VLA Framework with MoE and Online Reinforcement Learning for Autonomous Driving
DVGT-2	89.7	CVPR2026	01/02/2026	Github	DVGT-2: Vision-Geometry-Action Model for Autonomous Driving at Scale
MeanFuser	89.5	CVPR2026	13/06/2025	Github	MeanFuser: Fast One-Step Multi-Modal Trajectory Generation and Adaptive Reconstruction via MeanFlow for End-to-End Autonomous Driving
Vega	89.4	arXiv	25/03/2026	Github	Vega: Learning to Drive with Natural Language Instructions
DiffusionDrive	88.1	CVPR2025	15/11/2024	Github	DiffusionDrive: Truncated Diffusion Model for End-to-End Autonomous Driving
Drive-JEPA	87.7	arXiv	05/01/2026	Github	Drive-JEPA: Video JEPA Meets Multimodal Trajectory Distillation for End-to-End Driving
DriveWorld-VLA	86.8	ICML2026	06/02/2026	Github	DriveWorld-VLA: Unified Latent-Space World Modeling with Vision–Language–Action for Autonomous Driving
Senna-2	86.6	arXiv	11/03/2026	Github	Senna-2: Aligning VLM and End-to-End Driving Policy for Consistent Decision Making and Planning
ZTRS	86.2	arXiv	14/10/2025	Github	ZTRS: Zero-Imitation End-to-end Autonomous Driving with Trajectory Scoring
DriveVLA-W0	86.1	ICLR2026	12/10/2025	Github	DriveVLA-W0: World Models Amplify Data Scaling Law in Autonomous Driving
SimScale	85.9	CVPR2026 oral	20/09/2025	Github	Learning to Drive via Real-World Simulation at Scale
DiffusionDriveV2	85.5	arXiv	07/12/2025	Github	DiffusionDriveV2: Reinforcement Learning-Constrained Truncated Diffusion Modeling in End-to-End Autonomous Driving
Curious-VLA	85.3	CVPR2026 Findings	05/03/2025	Github	Devil is in Narrow Policy: Unleashing Exploration in Driving VLA Models
WAM-Flow	84.7	CVPR2026	06/12/2025	Github	WAM-Flow: Parallel Coarse-to-Fine Motion Planning via Discrete Flow Matching for Autonomous Driving
PRIX	84.2	RA-L2026	17/07/2025	Github	PRIX: Learning to Plan from Raw Pixels for End-to-End Autonomous Driving
DriveSuprim	83.1	AAAI2026	10/03/2025	Github	DriveSuprim: Towards Precise Trajectory Selection for End-to-End Planning
Latent-WAM	89.3	arXiv	24/03/2026	-	Latent-WAM: Latent World Action Modeling for End-to-End Autonomous Driving
ExploreVLA	88.8	arXiv	02/04/2026	coming soon	ExploreVLA: Dense World Modeling and Exploration for End-to-End Autonomous Driving
HAD	88.6	arXiv	03/04/2026	-	HAD: Combining Hierarchical Diffusion with Metric-Decoupled RL for End-to-End Driving
PaIR-Drive	87.9	CVPR2026 findings	17/11/2025	coming soon	Fine-tuning is Not Enough: A Parallel Framework for Collaborative Imitation and Reinforcement Learning in End-to-end Autonomous Driving
DiffRefiner	87.9	AAAI2026	17/11/2025	coming soon	DiffRefiner: Coarse to Fine Trajectory Planning via Diffusion Refinement with Semantic Interaction for End to End Autonomous Driving
ELF-VLA	87.1	arXiv	01/03/2026	-	Unleashing VLA Potentials in Autonomous Driving via Explicit Learning from Failures
LaST-VLA	87.1	arXiv	01/03/2026	coming soon	LaST-VLA: Thinking in Latent Spatio-Temporal Space for Vision-Language-Action in Autonomous Driving
CdDrive	86.4	arXiv	03/02/2026	404	A Unified Candidate Set with Scene-Adaptive Refinement via Diffusion for End-to-End Autonomous Driving
SpanVLA	86.4	arXiv	19/04/2026	coming soon	SpanVLA: Efficient Action Bridging and Learning from Negative-Recovery Samples for Vision-Language-Action Model
The Constant Eye	45.8	arXiv	12/02/2026	-	The Constant Eye: Benchmarking and Bridging Appearance Robustness in Autonomous Driving
AnchDrive	85.5	arXiv	-	-	AnchDrive: Bootstrapping Diffusion Policies with Hybrid Trajectory Anchors for End-to-End Driving
Map-World	85.0	arXiv	17/11/2025	coming soon	Map-World: Masked Action planning and Path-Integral World Model for Autonomous Driving
SUPER-AD	84.3	arXiv	22/11/2025	-	SUPER-AD: Semantic Uncertainty-aware Planning for End-to-End Robust Autonomous Driving
MindDrive	84.2	arXiv	04/12/2025	-	MindDrive: An All-in-One Framework Bridging World Models and Vision-Language Model for End-to-End Autonomous Driving

NavSimv2 navhard

Method	PDMS	Venue	Date	Code	Title
DrivoR	54.6	CVPR2026	05/01/2026	Github	Driving on Registers
CLOVER	48.3	arXiv	15/05/2026	Github	CLOVER: Closed-Loop Value Estimation and Ranking for End-to-End Autonomous Driving Planning
SimScale	48.0	CVPR2026 oral	20/09/2025	Github	Learning to Drive via Real-World Simulation at Scale
ZTRS	45.5	arXiv	14/10/2025	Github	ZTRS: Zero-Imitation End-to-end Autonomous Driving with Trajectory Scoring
GTRS	42.1	arXiv	06/06/2025	Github	Generalized Trajectory Scoring for End-to-end Multi-modal Planning
RAP	36.9	ICLR2026	04/10/2026	Github	RAP: 3D Rasterization Augmented End-to-End Planning
Mimir	34.6	RA-L2025	07/12/2025	Github	Mimir: Hierarchical Goal-Driven Diffusion with Uncertainty Propagation for End-to-End Autonomous Driving
LEAD	31.4	CVPR2026	20/12/2025	Github	LEAD: Minimizing Learner-Expert Asymmetry in End-to-End Driving
MindDrive	30.5	arXiv	04/12/2025	-	MindDrive: An All-in-One Framework Bridging World Models and Vision-Language Model for End-to-End Autonomous Driving
LTFv6	28.3	CVPR2026	20/12/2025	Github	LEAD: Minimizing Learner-Expert Asymmetry in End-to-End Driving
The Constant Eye	46.7	arXiv	12/02/2026	-	The Constant Eye: Benchmarking and Bridging Appearance Robustness in Autonomous Driving
SpanVLA	40.1	arXiv	19/04/2026	coming soon	SpanVLA: Efficient Action Bridging and Learning from Negative-Recovery Samples for Vision-Language-Action Model
EponaV2	36.1	arXiv	14/05/2026	coming soon	EponaV2: Driving World Model with Comprehensive Future Reasoning
UniUncer	28.7	arXiv	07/03/2026	-	UniUncer: Unified Dynamic–Static Uncertainty for End-to-End Driving

NavSimv1 navtest

Method	PDMS	Venue	Date	Code	Title
CLOVER	94.5	arXiv	15/05/2026	Github	CLOVER: Closed-Loop Value Estimation and Ranking for End-to-End Autonomous Driving Planning
RAP	93.8	ICLR2026	04/10/2025	Github	RAP: 3D Rasterization Augmented End-to-End Planning
DriveSuprim	93.5	AAAI2026	10/03/2025	Github	DriveSuprim: Towards Precise Trajectory Selection for End-to-End Planning
Drive-JEPA	93.3	arXiv	05/01/2026	Github	Drive-JEPA: Video JEPA Meets Multimodal Trajectory Distillation for End-to-End Driving
DrivoR	93.1	CVPR2026	05/01/2026	Github	Driving on Registers
SparseDriveV2	92.0	arXiv	29/03/2026	Github	SparseDriveV2: Scoring is All You Need for End-to-End Autonomous Driving
iPad	91.7	arXiv	15/05/2025	Github	iPad: Iterative Proposal-centric End-to-End Autonomous Driving
DriveWorld-VLA	86.8	ICML2026	06/02/2026	Github	DriveWorld-VLA: Unified Latent-Space World Modeling with Vision–Language–Action for Autonomous Driving
DiffusionDriveV2	91.2	arXiv	07/12/2025	Github	DiffusionDriveV2: Reinforcement Learning-Constrained Truncated Diffusion Modeling in End-to-End Autonomous Driving
SGDrive	91.1	CVPR2026	05/01/2026	Github	SGDrive: Scene-to-Goal Hierarchical World Cognition for Autonomous Driving
WAM-Diff	91.0	arXiv	score	Github	WAM-Diff: A Masked Diffusion VLA Framework with MoE and Online Reinforcement Learning for Autonomous Driving
ReCogDrive	90.8	ICLR2026	08/06/2025	Github	ReCogDrive: A Reinforced Cognitive Framework for End-to-End Autonomous Driving
SeerDrive	90.7	NeurIPS2025	11/10/2025	Github	Future-Aware End-to-End Driving: Bidirectional Modeling of Trajectory Planning and Scene Evolution
GoalFlow	90.3	CVPR2025	05/03/2025	Github	GoalFlow: Goal-Driven Flow Matching for Multimodal Trajectories Generation in End-to-End Autonomous Driving
WAM-Flow	90.3	CVPR2026	06/12/2025	Github	WAM-Flow: Parallel Coarse-to-Fine Motion Planning via Discrete Flow Matching for Autonomous Driving
Curious-VLA	90.3	CVPR2026 Findings	05/03/2025	Github	Devil is in Narrow Policy: Unleashing Exploration in Driving VLA Models
DVGT-2	90.3	CVPR2026	01/04/2026	Github	DVGT-2: Vision-Geometry-Action Model for Autonomous Driving at Scale
BeyondDrive	90.3	arXiv	19/05/2026	Github	Beyond Imitation: Learning Safe End-to-End Autonomous Driving from Hard Negatives
DriveVLA-W0	90.2	ICLR2026	12/10/2025	Github	DriveVLA-W0: World Models Amplify Data Scaling Law in Autonomous Driving
VeteranAD	90.2	AAAI2026	11/08/2025	Github	Perception in Plan: Coupled Perception and Planning for End-to-End Autonomous Driving
DeMo++	89.9	arXiv	17/07/2025	Github	DeMo++: Motion Decoupling for Autonomous Driving
LTFv7	89.7	arXiv	19/05/2026	Github	Beyond Imitation: Learning Safe End-to-End Autonomous Driving from Hard Negatives
Uni-World VLA	89.4	arXiv	27/03/2026	Github	Uni-World VLA: Interleaved World Modeling and Planning for Autonomous Driving
Mimir	89.3	RA-L2025	07/12/2025	Github	Mimir: Hierarchical Goal-Driven Diffusion with Uncertainty Propagation for End-to-End Autonomous Driving
AutoVLA	89.1	NeurIPS2025	13/06/2025	Github	AutoVLA: A Vision-Language-Action Model for End-to-End Autonomous Driving with Adaptive Reasoning and Reinforcement Fine-Tuning
DriveLaW	89.1	CVPR2026	23/12/2025	Github	DriveLaW:Unifying Planning and Video Generation in a Latent Driving World
MeanFuser	89.0	CVPR2026	13/06/2025	Github	MeanFuser: Fast One-Step Multi-Modal Trajectory Generation and Adaptive Reconstruction via MeanFlow for End-to-End Autonomous Driving
VGGDrive	88.8	CVPR2026	13/06/2025	Github	VGGDrive: Empowering Vision-Language Models with Cross-View Geometric Grounding for Autonomous Driving
Hydra-NeXt	88.6	ICCV2025	12/03/2025	Github	Hydra-NeXt: Robust Closed-Loop Driving with Open-Loop Training
WoTE	88.3	ICCV2025	01/04/2025	Github	End-to-End Driving with Online Trajectory Evaluation via BEV World Model
DIVER	88.3	arXiv	04/07/2025	Github	DIVER: Reinforced Diffusion Breaks Imitation Bottlenecks in End-to-End Autonomous Driving
DiffusionDrive	88.1	CVPR2025	15/11/2024	Github	DiffusionDrive: Truncated Diffusion Model for End-to-End Autonomous Driving
PWM	88.1	NeurIPS2025	19/10/2024	Github	From Forecasting to Planning: Policy World Model for Collaborative State-Action Prediction
BridgeDrive	88.0	ICLR2026	23/09/2024	Github	BridgeDrive: Diffusion Bridge Policy for Closed-Loop Trajectory Planning in Autonomous Driving
Vega	87.9	arXiv	25/03/20264	Github	Vega: Learning to Drive with Natural Language Instructions
PRIX	87.8	RA-L2026	17/07/2025	Github	PRIX: Learning to Plan from Raw Pixels for End-to-End Autonomous Driving
ImagiDrive	87.4	ICRA2026	11/08/2025	Github	ImagiDrive: A Unified Imagination-and-Planning Framework for Autonomous Driving
DistillDrive	86.2	ICCV2025	05/08/2025	Github	DistillDrive: End-to-End Multi-Mode Autonomous Driving Distillation by Isomorphic Hetero-Source Planning Model
LEAD	86.4	CVPR2026	20/12/2025	Github	LEAD: Minimizing Learner-Expert Asymmetry in End-to-End Driving
Epona	86.2	ICCV2025	24/06/2025	Github	Epona: Autoregressive Diffusion World Model for Autonomous Driving
LTFv6	85.4	CVPR2026	20/12/2025	Github	LEAD: Minimizing Learner-Expert Asymmetry in End-to-End Driving
World4Drive	85.1	ICCV2025	01/07/2025	Github	World4Drive: End-to-End Autonomous Driving via Intention-aware Physical Latent World Model
FSDrive	85.1	ICCV2025	17/05/2025	Github	FutureSightDrive: Thinking Visually with Spatio-Temporal CoT for Autonomous Driving
LAW	84.6	ICLR2025	08/06/2024	Github	Enhancing End-to-End Autonomous Driving with Latent World Model
OneDrive	86.8	arXiv	17/04/2026	Github	OneDrive: Unified Multi-Paradigm Driving with Vision-Language-Action Models
UniVLA	81.7	ICLR2026	19/06/2025	Github	Unified Vision-Language-Action Model
EvaDrive	94.9	arXiv	09/08/2025	-	EvaDrive: Evolutionary Adversarial Policy Optimization for End-to-End Autonomous Driving
TransDiffuser	94.9	arXiv	09/05/2025	-	TransDiffuser: Diverse Trajectory Generation with Decorrelated Multi-modal Representation for End-to-end Autonomous Driving
DiffE2E	92.7	NeurIPS2025	19/05/2025	coming soon	DiffE2E: Rethinking End-to-End Driving with a Hybrid Action Diffusion and Supervised Policy
NaviHydra	92.7	arXiv	10/12/2025	-	NaviHydra: Controllable Navigation-guided End-to-end Autonomous Driving with Hydra-distillation
Centaur	92.6	arXiv	11/03/2025	-	Centaur: Robust End-to-End Autonomous Driving with Test-Time Training
HiPro-AD	92.6	-	-	-	HiPro-AD: Sparse Trajectory Transformer for End-to-End Autonomous Driving with Hybrid Spatiotemporal Attention
LatentVLA	92.4	arXiv	05/01/2026	-	LatentVLA: Efficient Vision-Language Models for Autonomous Driving via Latent Action Prediction
AD-R1	91.9	arXiv	20/11/2025	-	AD-R1: Closed-Loop Reinforcement Learning for End-to-End Autonomous Driving with Impartial World Models
DriveFine	91.8	arXiv	14/02/2025	-	DriveFine: Refining-Augmented Masked Diffusion VLA for Precise and Robust Driving
DynVLA	91.7	arXiv	11/03/2026	-	DynVLA: Learning World Dynamics for Action Reasoning in Autonomous Driving
R2SE	91.6	TPAMI2026	09/06/2025	-	Reinforced Refinement with Self-Aware Expansion for End-to-End Autonomous Driving
SafeDrive	91.6	CVPR2026	18/02/2026	coming soon	SafeDrive: Fine-Grained Safety Reasoning for End-to-End Driving in a Sparse World
LaST-VLA	91.3	arXiv	01/03/2026	coming soon	LaST-VLA: Thinking in Latent Spatio-Temporal Space for Vision-Language-Action in Autonomous Driving
RaWMPC	91.3	arXiv	23/02/2026	-	Risk-Aware World Model Predictive Control for Generalizable End-to-End Autonomous Driving
PaIR-Drive	91.2	CVPR2026 findings	17/11/2025	coming soon	Fine-tuning is Not Enough: A Parallel Framework for Collaborative Imitation and Reinforcement Learning in End-to-end Autonomous Driving
ReflectDrive	91.1	arXiv	20/09/2025	-	Discrete Diffusion for Reflective Vision-Language-Action Models in Autonomous Driving
ReflectDrive-2	91.0	arXiv	04/05/2026	-	ReflectDrive-2: Reinforcement-Learning-Aligned Self-Editing for Discrete Diffusion Driving
Hydra-MDP++	91.0	arXiv	12/03/2025	-	Hydra-MDP++: Advancing End-to-End Driving via Expert-Guided Hydra-Distillation
ELF-VLA	91.0	arXiv	01/03/2026	-	Unleashing VLA Potentials in Autonomous Driving via Explicit Learning from Failures
DriveVA	90.9	arXiv	03/03/2026	-	DriveVA: Video Action Models are Zero-Shot Drivers
LADY	90.9	arXiv	15/12/2025	-	LADY: Linear Attention for Autonomous Driving Efficiency without Transformers
DiffRefiner	90.7	AAAI2026	17/11/2025	coming soon	DiffRefiner: Coarse to Fine Trajectory Planning via Diffusion Refinement with Semantic Interaction for End to End Autonomous Driving
FutureX	90.6	arXiv	11/12/2025	coming soon	FutureX: Enhance End-to-End Autonomous Driving via Latent Chain-of-Thought World Model
UniDWM	90.6	arXiv	01/02/2026	404	UniDWM: Towards a Unified Driving World Model via Multifaceted Representation Learning
ResAD	90.6	arXiv	08/10/2025	coming soon	ResAD: Normalized Residual Trajectory Modeling for End-to-End Autonomous Driving
ExploreVLA	90.4	arXiv	02/04/2026	coming soon	ExploreVLA: Dense World Modeling and Exploration for End-to-End Autonomous Driving
EponaV2	36.1	arXiv	-	coming soon	EponaV2: Driving World Model with Comprehensive Future Reasoning
SpanVLA	90.3	arXiv	19/04/2026	coming soon	SpanVLA: Efficient Action Bridging and Learning from Negative-Recovery Samples for Vision-Language-Action Model
AdaThinkDrive	90.3	CVPR2025	13/09/2025	-	AdaThinkDrive: Adaptive Thinking via Reinforcement Learning for Autonomous Driving
HAD	90.2	arXiv	03/04/2026	-	HAD: Combining Hierarchical Diffusion with Metric-Decoupled RL for End-to-End Driving
FeaXDrive	90.0	NeurIPS2025	12/04/2026	-	FeaXDrive: Feasibility-aware Trajectory-Centric Diffusion Planning for End-to-End Autonomous Driving
DriveDPO	90.0	NeurIPS2025	17/09/2025	-	DriveDPO: Policy Learning via Safety DPO For End-to-End Autonomous Driving
-	89.8	arXiv	20/09/2025	-	Autoregressive End-to-End Planning with Time-Invariant Spatial Alignment and Multi-Objective Policy Refinement
CdDrive	89.2	arXiv	03/02/2026	404	A Unified Candidate Set with Scene-Adaptive Refinement via Diffusion for End-to-End Autonomous Driving
MindDrive	88.9	arXiv	04/12/2025	-	MindDrive: An All-in-One Framework Bridging World Models and Vision-Language Model for End-to-End Autonomous Driving
GMF-Drive	88.9	arXiv	06/08/2025	-	GMF-Drive: Gated Mamba Fusion with Spatial-Aware BEV Representation for End-to-End Autonomous Driving
Map-World	88.8	arXiv	20/11/2025	-	Map-World: Masked Action planning and Path-Integral World Model for Autonomous Driving
READ	88.8	-	13/09/2025	-	READ: End-to-End Autonomous Driving Made Safer with Efficient Reinforcement Learning
DynFlowDrive	88.7	-	19/03/2026	coming soon	DynFlowDrive: Flow-Based Dynamic World Modeling for Autonomous Driving
DreamerAD	88.7	-	24/03/2026	-	DreamerAD: Efficient Reinforcement Learning via Latent World Model for Autonomous Driving
TrajDiff	88.5	arXiv	01/12/2025	coming soon	TrajDiff: End-to-end Autonomous Driving without Perception Annotation
WorldRFT	87.8	AAAI2026	19/12/2025	coming soon	WorldRFT: Latent World Model Planning with Reinforcement Fine-Tuning for Autonomous Driving
SUPER-AD	87.7	arXiv	22/11/2025	-	SUPER-AD: Semantic Uncertainty-aware Planning for End-to-End Robust Autonomous Driving
TrajHF	87.6	arXiv	10/03/2025	-	Learning Personalized Driving Styles via Reinforcement Learning from Human Feedback
CausalVAD	87.2	arXiv	18/03/2026	-	CausalVAD: De-confounding End-to-End Autonomous Driving via Causal Intervention
DAP	87.2	arXiv	13/11/2025	-	DAP: A Discrete-token Autoregressive Planner for Autonomous Driving
ARTEMIS	87.0	arXiv	19/04/2025	coming soon	ARTEMIS: Autoregressive End-to-End Trajectory Planning with Mixture of Experts for Autonomous Driving
ProDrive	86.6	arXiv	25/04/2026	-	ProDrive: Proactive Planning for Autonomous Driving via Ego-Environment Co-Evolution
NoRD	85.6	arXiv	21/02/2026	-	NoRD: A Data-Efficient Vision-Language-Action Model that Drives without Reasoning
LFG	85.2	arXiv	22/02/2026	-	Learning to Drive is a Free Gift: Large-Scale Label-Free Autonomy Pretraining from Unposed In-The-Wild Videos
DriveX	84.5	ICCV2025	19/05/2025	-	DriveX: Omni Scene Modeling for Learning Generalizable World Knowledge in Autonomous Driving
DISK	83.6	arXiv	01/02/2026	-	DISK: Dynamic Inference SKipping for World Models
DrivingGPT	82.4	ICCV2025	18/12/2024	404	DrivingGPT: Unifying Driving World Modeling and Planning with Multi-modal Autoregressive Transformers

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