Bench2Drive-Robust: Benchmarking Closed-Loop Autonomous Driving under Deployment Perturbations | Paper Citation Record

Observation 9e8803d7-3d65-4dd9-bdf1-093174e9c21d · outbound

This paper cites Trajectory-guided control prediction for end-to-end autonomous driving: A simple yet strong baseline.Advances in Neural Information Processing Systems, 35:6119–6132.

Bench2Drive-Robust: Benchmarking Closed-Loop Autonomous Driving under Deployment Perturbations Trajectory-guided control prediction for end-to-end autonomous driving: A simple yet strong baseline.Advances in Neural Information Processing Systems, 35:6119–6132

Reference 1

Resolution: verified fuzzy; raw_fallback, observed 2026-05-20T10:13:12.505096Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation c04652bc-fa20-46bd-a29a-0e1f748ee4fd · outbound

This paper cites Planning-oriented autonomous driving.

Bench2Drive-Robust: Benchmarking Closed-Loop Autonomous Driving under Deployment Perturbations Planning-oriented autonomous driving

Reference 2

Resolution: verified fuzzy; raw_fallback, observed 2026-05-20T10:13:12.503207Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 66ab25ab-2d93-4d16-abf5-96d8f8cf8a70 · outbound

This paper cites Vad: Vectorized scene representation for efficient autonomous driving.

Bench2Drive-Robust: Benchmarking Closed-Loop Autonomous Driving under Deployment Perturbations Vad: Vectorized scene representation for efficient autonomous driving

Reference 3

Resolution: verified fuzzy; raw_fallback, observed 2026-05-20T10:13:12.506929Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 2cdacd0d-d98c-4ff0-a893-90027e820154 · outbound

This paper cites Transfuser: Imitation with transformer-based sensor fusion for autonomous driving.IEEE transactions on pattern analysis and machine intelligence, 45(11):12878–12895.

Bench2Drive-Robust: Benchmarking Closed-Loop Autonomous Driving under Deployment Perturbations Transfuser: Imitation with transformer-based sensor fusion for autonomous driving.IEEE transactions on pattern analysis and machine intelligence, 45(11):12878–12895

Reference 4

Resolution: verified fuzzy; raw_fallback, observed 2026-05-20T10:13:12.501055Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation d8d5bd2c-9b0c-4f69-8d54-5a4f67bec87d · outbound

This paper cites Simlingo: Vision-only closed-loop autonomous driving with language-action alignment.

Bench2Drive-Robust: Benchmarking Closed-Loop Autonomous Driving under Deployment Perturbations Simlingo: Vision-only closed-loop autonomous driving with language-action alignment

Reference 5

Resolution: verified fuzzy; raw_fallback, observed 2026-05-20T10:13:12.372911Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 1967ad26-109e-4a14-bc98-26922c21d886 · outbound

This paper cites Drivetransformer: Unified trans- former for scalable end-to-end autonomous driving.

Bench2Drive-Robust: Benchmarking Closed-Loop Autonomous Driving under Deployment Perturbations Drivetransformer: Unified trans- former for scalable end-to-end autonomous driving

Reference 6

Resolution: verified fuzzy; raw_fallback, observed 2026-05-20T10:13:12.375448Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 9bf0ad62-7b65-4a13-80ec-ffa1bacb22a8 · outbound

This paper cites Benchmarking robustness of 3d object detection to common corruptions.

Bench2Drive-Robust: Benchmarking Closed-Loop Autonomous Driving under Deployment Perturbations Benchmarking robustness of 3d object detection to common corruptions

Reference 7

Resolution: verified fuzzy; raw_fallback, observed 2026-05-20T10:13:12.368189Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 3b6b3e93-999a-46a4-8fbf-c70f07c4350b · outbound

This paper cites Robo3d: Towards robust and reliable 3d perception against corruptions.

Bench2Drive-Robust: Benchmarking Closed-Loop Autonomous Driving under Deployment Perturbations Robo3d: Towards robust and reliable 3d perception against corruptions

Reference 8

Resolution: verified fuzzy; raw_fallback, observed 2026-05-20T10:13:12.370567Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation c948e8ce-93c8-449e-aa83-8c6110bf0f9e · outbound

This paper cites Robodepth: Robust out-of-distribution depth estimation under corruptions.Advances in Neural Information Processing Systems, 36:21298–21342.

Bench2Drive-Robust: Benchmarking Closed-Loop Autonomous Driving under Deployment Perturbations Robodepth: Robust out-of-distribution depth estimation under corruptions.Advances in Neural Information Processing Systems, 36:21298–21342

Reference 9

Resolution: verified fuzzy; raw_fallback, observed 2026-05-20T10:13:12.483230Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 341bda72-a1b6-4292-b322-927245e774ea · outbound

This paper cites Benchmarking and improving bird’s eye view perception robustness in autonomous driving.

Bench2Drive-Robust: Benchmarking Closed-Loop Autonomous Driving under Deployment Perturbations Benchmarking and improving bird’s eye view perception robustness in autonomous driving

Reference 10

Resolution: verified fuzzy; raw_fallback, observed 2026-05-20T10:13:12.485091Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 72e92c90-04d5-4149-b357-e4e27e43848e · outbound

This paper cites Is your hd map constructor reliable under sensor corruptions?Advances in Neural Information Processing Systems, 37:22441–22482.

Bench2Drive-Robust: Benchmarking Closed-Loop Autonomous Driving under Deployment Perturbations Is your hd map constructor reliable under sensor corruptions?Advances in Neural Information Processing Systems, 37:22441–22482

Reference 11

Resolution: verified fuzzy; raw_fallback, observed 2026-05-20T10:13:12.486972Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 3a6d4daa-8189-4571-be62-ee2bb6c90df8 · outbound

This paper cites Robuste2e: Exploring the robustness of end-to-end autonomous driving.Electronics, 13(16):3299.

Bench2Drive-Robust: Benchmarking Closed-Loop Autonomous Driving under Deployment Perturbations Robuste2e: Exploring the robustness of end-to-end autonomous driving.Electronics, 13(16):3299

Reference 12

Resolution: verified fuzzy; raw_fallback, observed 2026-05-20T10:13:12.481123Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 4de1ae9c-1da6-419d-a689-eaf2172e20a4 · outbound

This paper cites RoboDriveVLM: A novel benchmark and baseline towards robust vision-language mod- els for autonomous driving.

Bench2Drive-Robust: Benchmarking Closed-Loop Autonomous Driving under Deployment Perturbations RoboDriveVLM: A novel benchmark and baseline towards robust vision-language mod- els for autonomous driving

Reference 13

Resolution: verified exact; arxiv_id, observed 2026-05-20T10:13:11.836960Z

Source-reported events for the cited work

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Observation c44dee0e-6664-49f3-a109-d05b9720bf7d · outbound

This paper cites Rethinking the Open-Loop Evaluation of End-to-End Autonomous Driving in nuScenes.

Bench2Drive-Robust: Benchmarking Closed-Loop Autonomous Driving under Deployment Perturbations Rethinking the Open-Loop Evaluation of End-to-End Autonomous Driving in nuScenes

Reference 14

Resolution: verified exact; local_arxiv, observed 2026-05-20T10:13:11.840324Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation a05e9dfa-5f5b-4604-b17b-1b74eaa2c284 · outbound

This paper cites Bench2drive: Towards multi-ability benchmarking of closed-loop end-to-end autonomous driving.Advances in Neural Information Processing Systems, 37:819–844.

Bench2Drive-Robust: Benchmarking Closed-Loop Autonomous Driving under Deployment Perturbations Bench2drive: Towards multi-ability benchmarking of closed-loop end-to-end autonomous driving.Advances in Neural Information Processing Systems, 37:819–844

Reference 15

Resolution: verified fuzzy; raw_fallback, observed 2026-05-20T10:13:12.477146Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 93210be2-bb74-4a45-bde8-6ad4d9215efd · outbound

This paper cites End to End Learning for Self-Driving Cars.

Bench2Drive-Robust: Benchmarking Closed-Loop Autonomous Driving under Deployment Perturbations End to End Learning for Self-Driving Cars

Reference 16

Resolution: verified exact; local_arxiv, observed 2026-05-20T10:13:11.817212Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation c1dd565a-69e9-4c25-a572-50df98b690b5 · outbound

This paper cites End-to-end driving via conditional imitation learning.

Bench2Drive-Robust: Benchmarking Closed-Loop Autonomous Driving under Deployment Perturbations End-to-end driving via conditional imitation learning

Reference 17

Resolution: verified fuzzy; raw_fallback, observed 2026-05-20T10:13:12.472847Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation bbf117e4-a8ad-4e75-a6af-0e3cda17c8da · outbound

This paper cites Learning by cheating.

Bench2Drive-Robust: Benchmarking Closed-Loop Autonomous Driving under Deployment Perturbations Learning by cheating

Reference 18

Resolution: verified fuzzy; raw_fallback, observed 2026-05-20T10:13:12.437694Z

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No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 4795eb75-0b20-4a11-b03c-8cf024414a1a · outbound

This paper cites Multi-modal fusion transformer for end-to-end autonomous driving.

Bench2Drive-Robust: Benchmarking Closed-Loop Autonomous Driving under Deployment Perturbations Multi-modal fusion transformer for end-to-end autonomous driving

Reference 19

Resolution: verified fuzzy; raw_fallback, observed 2026-05-20T10:13:12.468587Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 24340ded-2b9a-43bf-8603-aaf1565723fa · outbound

This paper cites Sophia Koepke, Zeynep Akata, and Andreas Geiger.

Bench2Drive-Robust: Benchmarking Closed-Loop Autonomous Driving under Deployment Perturbations Sophia Koepke, Zeynep Akata, and Andreas Geiger

Reference 20

Resolution: verified fuzzy; raw_fallback, observed 2026-05-20T10:13:12.470437Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation f77ae226-573b-42a2-9ff8-b8fc09decae6 · outbound

This paper cites Safety-enhanced au- tonomous driving using interpretable sensor fusion transformer.

Bench2Drive-Robust: Benchmarking Closed-Loop Autonomous Driving under Deployment Perturbations Safety-enhanced au- tonomous driving using interpretable sensor fusion transformer

Reference 21

Resolution: verified fuzzy; raw_fallback, observed 2026-05-20T10:13:12.474828Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation ab6e5ebc-72bb-4989-bf63-18307b5eed37 · outbound

This paper cites Sparsedrive: End-to-end autonomous driving via sparse scene representation.

Bench2Drive-Robust: Benchmarking Closed-Loop Autonomous Driving under Deployment Perturbations Sparsedrive: End-to-end autonomous driving via sparse scene representation

Reference 22

Resolution: verified fuzzy; raw_fallback, observed 2026-05-20T10:13:12.479116Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation a6663003-ea48-461d-b297-8ad514252d3e · outbound

This paper cites Sparsead: Sparse query-centric paradigm for efficient end-to-end autonomous driving.IEEE Transactions on Artificial Intelligence.

Bench2Drive-Robust: Benchmarking Closed-Loop Autonomous Driving under Deployment Perturbations Sparsead: Sparse query-centric paradigm for efficient end-to-end autonomous driving.IEEE Transactions on Artificial Intelligence

Reference 23

Resolution: verified fuzzy; raw_fallback, observed 2026-05-20T10:13:12.488967Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation a2da4568-345c-4ca7-832d-6d1f91beda06 · outbound

This paper cites Lift, splat, shoot: Encoding images from arbitrary camera rigs by implicitly unprojecting to 3d.

Bench2Drive-Robust: Benchmarking Closed-Loop Autonomous Driving under Deployment Perturbations Lift, splat, shoot: Encoding images from arbitrary camera rigs by implicitly unprojecting to 3d

Reference 24

Resolution: verified fuzzy; raw_fallback, observed 2026-05-20T10:13:12.493406Z

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No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 057ab062-5889-4f3f-8661-110ced4cc6ec · outbound

This paper cites an unresolved cited work.

Bench2Drive-Robust: Benchmarking Closed-Loop Autonomous Driving under Deployment Perturbations Unresolved cited work

Reference 25

Resolution: unresolved; raw_fallback, observed 2026-05-20T10:13:12.508685Z

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No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 6a99e650-378a-43f3-b014-efb1558cfc62 · outbound

This paper cites BEVDet: High-performance Multi-camera 3D Object Detection in Bird-Eye-View.

Bench2Drive-Robust: Benchmarking Closed-Loop Autonomous Driving under Deployment Perturbations BEVDet: High-performance Multi-camera 3D Object Detection in Bird-Eye-View

Reference 26

Resolution: verified exact; local_arxiv, observed 2026-05-20T10:13:11.808343Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 1635b7c0-afdc-491d-8976-9ed439311665 · outbound

This paper cites Bevdepth: Acquisition of reliable depth for multi-view 3d object detection.

Bench2Drive-Robust: Benchmarking Closed-Loop Autonomous Driving under Deployment Perturbations Bevdepth: Acquisition of reliable depth for multi-view 3d object detection

Reference 27

Resolution: verified fuzzy; raw_fallback, observed 2026-05-20T10:13:12.466445Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 536c188a-690f-4fe3-838e-ada4e04a12ba · outbound

This paper cites Bevfusion: A simple and robust lidar-camera fusion framework.

Bench2Drive-Robust: Benchmarking Closed-Loop Autonomous Driving under Deployment Perturbations Bevfusion: A simple and robust lidar-camera fusion framework

Reference 28

Resolution: verified fuzzy; raw_fallback, observed 2026-05-20T10:13:12.458505Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation d320faa5-b85e-4192-8707-5426900d02b0 · outbound

This paper cites Detr3d: 3d object detection from multi-view images via 3d-to-2d queries.

Bench2Drive-Robust: Benchmarking Closed-Loop Autonomous Driving under Deployment Perturbations Detr3d: 3d object detection from multi-view images via 3d-to-2d queries

Reference 29

Resolution: verified fuzzy; raw_fallback, observed 2026-05-20T10:13:12.456606Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 75776b15-c0b0-4880-a13b-c7e70b32af1d · outbound

This paper cites Petr: Position embedding transfor- mation for multi-view 3d object detection.

Bench2Drive-Robust: Benchmarking Closed-Loop Autonomous Driving under Deployment Perturbations Petr: Position embedding transfor- mation for multi-view 3d object detection

Reference 30

Resolution: verified fuzzy; raw_fallback, observed 2026-05-20T10:13:12.491002Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation dfa01587-6214-4680-9320-b0ccbd35d657 · outbound

This paper cites Exploring object- centric temporal modeling for efficient multi-view 3d object detection.

Bench2Drive-Robust: Benchmarking Closed-Loop Autonomous Driving under Deployment Perturbations Exploring object- centric temporal modeling for efficient multi-view 3d object detection

Reference 31

Resolution: verified fuzzy; raw_fallback, observed 2026-05-20T10:13:12.450394Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation a96fc13f-ef85-48f4-95d6-321f2eb434b4 · outbound

This paper cites Occformer: Dual-path transformer for vision- based 3d semantic occupancy prediction.

Bench2Drive-Robust: Benchmarking Closed-Loop Autonomous Driving under Deployment Perturbations Occformer: Dual-path transformer for vision- based 3d semantic occupancy prediction

Reference 32

Resolution: verified fuzzy; raw_fallback, observed 2026-05-20T10:13:12.454282Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 71a4661e-2bb5-4265-8e47-5987ed0279bc · outbound

This paper cites Surroundocc: Multi-camera 3d occupancy prediction for autonomous driving.

Bench2Drive-Robust: Benchmarking Closed-Loop Autonomous Driving under Deployment Perturbations Surroundocc: Multi-camera 3d occupancy prediction for autonomous driving

Reference 33

Resolution: verified fuzzy; raw_fallback, observed 2026-05-20T10:13:12.452389Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation ccaddc4f-7e68-49a3-bc0d-c2e503fcf9a2 · outbound

This paper cites Para-drive: Par- allelized architecture for real-time autonomous driving.

Bench2Drive-Robust: Benchmarking Closed-Loop Autonomous Driving under Deployment Perturbations Para-drive: Par- allelized architecture for real-time autonomous driving

Reference 34

Resolution: verified fuzzy; raw_fallback, observed 2026-05-20T10:13:12.462218Z

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No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 7a6aa46b-04df-4ac6-8ab7-8bcfed1ff8ef · outbound

This paper cites Diffusiondrive: Truncated diffusion model for end-to-end autonomous driving.

Bench2Drive-Robust: Benchmarking Closed-Loop Autonomous Driving under Deployment Perturbations Diffusiondrive: Truncated diffusion model for end-to-end autonomous driving

Reference 35

Resolution: verified fuzzy; raw_fallback, observed 2026-05-20T10:13:12.443995Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 71749288-0a83-4f09-a689-343f80bd7541 · outbound

This paper cites Goalflow: Goal-driven flow matching for multimodal trajectories generation in end- to-end autonomous driving.

Bench2Drive-Robust: Benchmarking Closed-Loop Autonomous Driving under Deployment Perturbations Goalflow: Goal-driven flow matching for multimodal trajectories generation in end- to-end autonomous driving

Reference 36

Resolution: verified fuzzy; raw_fallback, observed 2026-05-20T10:13:12.439991Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 8db4c90e-35e4-4797-a5d8-bb3a734d4074 · outbound

This paper cites Guideflow: Constraint-guided flow matching for planning in end-to-end autonomous driving.

Bench2Drive-Robust: Benchmarking Closed-Loop Autonomous Driving under Deployment Perturbations Guideflow: Constraint-guided flow matching for planning in end-to-end autonomous driving

Reference 37

Resolution: verified exact; arxiv_id, observed 2026-05-20T10:13:11.788572Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 698582c9-87ac-4076-aa2e-9d6b7e319594 · outbound

This paper cites Hydra-MDP: End-to-end Multimodal Planning with Multi-target Hydra-Distillation.

Bench2Drive-Robust: Benchmarking Closed-Loop Autonomous Driving under Deployment Perturbations Hydra-MDP: End-to-end Multimodal Planning with Multi-target Hydra-Distillation

Reference 38

Resolution: verified exact; local_arxiv, observed 2026-05-20T10:13:11.855945Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 4ea6f6af-8409-4513-bfb7-fb89fa08821c · outbound

This paper cites Don’t shake the wheel: Momentum-aware planning in end-to-end autonomous driving.

Bench2Drive-Robust: Benchmarking Closed-Loop Autonomous Driving under Deployment Perturbations Don’t shake the wheel: Momentum-aware planning in end-to-end autonomous driving

Reference 39

Resolution: verified fuzzy; raw_fallback, observed 2026-05-20T10:13:12.495323Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 72ffed36-4a41-4714-9550-e305b841c5b9 · outbound

This paper cites Drivesuprim: Towards precise trajectory selection for end-to-end planning.

Bench2Drive-Robust: Benchmarking Closed-Loop Autonomous Driving under Deployment Perturbations Drivesuprim: Towards precise trajectory selection for end-to-end planning

Reference 40

Resolution: verified fuzzy; raw_fallback, observed 2026-05-20T10:13:12.446098Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 0b342542-836c-4de3-a155-c28e732bd3e8 · outbound

This paper cites Raw2drive: Reinforcement learning with aligned world models for end-to-end autonomous driving (in carla v2).

Bench2Drive-Robust: Benchmarking Closed-Loop Autonomous Driving under Deployment Perturbations Raw2drive: Reinforcement learning with aligned world models for end-to-end autonomous driving (in carla v2)

Reference 41

Resolution: verified exact; arxiv_id, observed 2026-05-20T10:13:11.828490Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 1c6c7e52-342c-487d-924d-d0295d6e1b73 · outbound

This paper cites Lmdrive: Closed-loop end-to-end driving with large language models.

Bench2Drive-Robust: Benchmarking Closed-Loop Autonomous Driving under Deployment Perturbations Lmdrive: Closed-loop end-to-end driving with large language models

Reference 42

Resolution: verified fuzzy; raw_fallback, observed 2026-05-20T10:13:12.442078Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 05bb74cb-73f6-4001-88b5-d2d16232c575 · outbound

This paper cites Drivelm: Driving with graph visual question answering.

Bench2Drive-Robust: Benchmarking Closed-Loop Autonomous Driving under Deployment Perturbations Drivelm: Driving with graph visual question answering

Reference 43

Resolution: verified fuzzy; raw_fallback, observed 2026-05-20T10:13:12.464122Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 3fd08ed4-1687-497a-b11a-35d00f60ff85 · outbound

This paper cites Dolphins: Multimodal language model for driving.

Bench2Drive-Robust: Benchmarking Closed-Loop Autonomous Driving under Deployment Perturbations Dolphins: Multimodal language model for driving

Reference 44

Resolution: verified fuzzy; raw_fallback, observed 2026-05-20T10:13:12.433746Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 8b7f71c9-93f1-4758-8ac0-eb0b241bddde · outbound

This paper cites Drivegpt4: Interpretable end-to-end autonomous driving via large language model.IEEE Robotics and Automation Letters, 9(10):8186–8193.

Bench2Drive-Robust: Benchmarking Closed-Loop Autonomous Driving under Deployment Perturbations Drivegpt4: Interpretable end-to-end autonomous driving via large language model.IEEE Robotics and Automation Letters, 9(10):8186–8193

Reference 45

Resolution: verified fuzzy; raw_fallback, observed 2026-05-20T10:13:12.435831Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation e9da8a21-dfcd-4eb5-8518-32edb7741b38 · outbound

This paper cites DiLu: A Knowledge-Driven Approach to Autonomous Driving with Large Language Models.

Bench2Drive-Robust: Benchmarking Closed-Loop Autonomous Driving under Deployment Perturbations DiLu: A Knowledge-Driven Approach to Autonomous Driving with Large Language Models

Reference 46

Resolution: verified exact; arxiv_id, observed 2026-05-20T10:13:11.793801Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 9403b320-77d8-4e66-8d71-71d796bbb69f · outbound

This paper cites Orion: A holistic end-to-end autonomous driving framework by vision-language instructed action generation.

Bench2Drive-Robust: Benchmarking Closed-Loop Autonomous Driving under Deployment Perturbations Orion: A holistic end-to-end autonomous driving framework by vision-language instructed action generation

Reference 47

Resolution: verified fuzzy; raw_fallback, observed 2026-05-20T10:13:12.424368Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 729fa36d-985c-4d27-b126-7be252147554 · outbound

This paper cites Open- drivevla: Towards end-to-end autonomous driving with large vision language action model.

Bench2Drive-Robust: Benchmarking Closed-Loop Autonomous Driving under Deployment Perturbations Open- drivevla: Towards end-to-end autonomous driving with large vision language action model

Reference 48

Resolution: verified fuzzy; raw_fallback, observed 2026-05-20T10:13:12.427265Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 6e783d96-c4ad-4a95-9227-f1e2069fa77a · outbound

This paper cites an unresolved cited work.

Bench2Drive-Robust: Benchmarking Closed-Loop Autonomous Driving under Deployment Perturbations Unresolved cited work

Reference 49

Resolution: unresolved; raw_fallback, observed 2026-05-20T10:13:12.418136Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 68f2fc33-23e9-46bf-808c-1cc8fb2a8198 · outbound

This paper cites DriveMoE: Mixture-of-Experts for Vision-Language-Action Model in End-to-End Autonomous Driving.

Bench2Drive-Robust: Benchmarking Closed-Loop Autonomous Driving under Deployment Perturbations DriveMoE: Mixture-of-Experts for Vision-Language-Action Model in End-to-End Autonomous Driving

Reference 50

Resolution: verified exact; local_arxiv, observed 2026-05-20T10:13:11.822158Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation b7fa3566-d398-4e90-b6fe-71a093e0cb98 · outbound

This paper cites A survey on vision-language-action models for autonomous driving.

Bench2Drive-Robust: Benchmarking Closed-Loop Autonomous Driving under Deployment Perturbations A survey on vision-language-action models for autonomous driving

Reference 51

Resolution: verified fuzzy; raw_fallback, observed 2026-05-20T10:13:12.378011Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 112ab8a4-3c60-4c4d-a3d5-ef03988a9639 · outbound

This paper cites World4drive: End-to-end autonomous driving via intention-aware physical latent world model.

Bench2Drive-Robust: Benchmarking Closed-Loop Autonomous Driving under Deployment Perturbations World4drive: End-to-end autonomous driving via intention-aware physical latent world model

Reference 52

Resolution: verified fuzzy; raw_fallback, observed 2026-05-20T10:13:12.406475Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation f29cc1a6-70a8-449c-a1d3-02376660ddf0 · outbound

This paper cites Real-ad: Towards human-like reasoning in end-to-end autonomous driving.

Bench2Drive-Robust: Benchmarking Closed-Loop Autonomous Driving under Deployment Perturbations Real-ad: Towards human-like reasoning in end-to-end autonomous driving

Reference 53

Resolution: verified fuzzy; raw_fallback, observed 2026-05-20T10:13:12.408855Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation cd732edc-abe6-45a4-b2c1-e3b145c15efd · outbound

This paper cites The RoboDrive Challenge: Drive Anytime Anywhere in Any Condition.

Bench2Drive-Robust: Benchmarking Closed-Loop Autonomous Driving under Deployment Perturbations The RoboDrive Challenge: Drive Anytime Anywhere in Any Condition

Reference 54

Resolution: verified exact; arxiv_id, observed 2026-05-20T10:13:11.804707Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 9ecf9eaa-57c6-44dd-b4f2-00fbfe01ced9 · outbound

This paper cites Fail2Drive: Benchmarking Closed-Loop Driving Generalization.

Bench2Drive-Robust: Benchmarking Closed-Loop Autonomous Driving under Deployment Perturbations Fail2Drive: Benchmarking Closed-Loop Driving Generalization

Reference 55

Resolution: verified exact; local_arxiv, observed 2026-05-20T10:13:11.799403Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 92a5f8fd-6f20-4929-a5b6-99440bb1ee7d · outbound

This paper cites Are we ready for autonomous driving? the kitti vision benchmark suite.

Bench2Drive-Robust: Benchmarking Closed-Loop Autonomous Driving under Deployment Perturbations Are we ready for autonomous driving? the kitti vision benchmark suite

Reference 56

Resolution: verified fuzzy; raw_fallback, observed 2026-05-20T10:13:12.387673Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 246705ad-dc82-43cc-abf0-6e9ff4df922f · outbound

This paper cites The cityscapes dataset for semantic urban scene understanding.

Bench2Drive-Robust: Benchmarking Closed-Loop Autonomous Driving under Deployment Perturbations The cityscapes dataset for semantic urban scene understanding

Reference 57

Resolution: verified fuzzy; raw_fallback, observed 2026-05-20T10:13:12.385342Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 157d02d6-7526-494b-9b11-ca7a76e07f28 · outbound

This paper cites The apolloscape dataset for autonomous driving.

Bench2Drive-Robust: Benchmarking Closed-Loop Autonomous Driving under Deployment Perturbations The apolloscape dataset for autonomous driving

Reference 58

Resolution: verified fuzzy; raw_fallback, observed 2026-05-20T10:13:12.400821Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 1061185c-c649-4f9d-af80-5b506b215c8c · outbound

This paper cites Argoverse: 3d tracking and forecasting with rich maps.

Bench2Drive-Robust: Benchmarking Closed-Loop Autonomous Driving under Deployment Perturbations Argoverse: 3d tracking and forecasting with rich maps

Reference 59

Resolution: verified fuzzy; raw_fallback, observed 2026-05-20T10:13:12.403650Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation cb5b3df2-189a-45e6-8d20-a57a2a85ee13 · outbound

This paper cites nuscenes: A multimodal dataset for autonomous driving.

Bench2Drive-Robust: Benchmarking Closed-Loop Autonomous Driving under Deployment Perturbations nuscenes: A multimodal dataset for autonomous driving

Reference 60

Resolution: verified fuzzy; raw_fallback, observed 2026-05-20T10:13:12.411202Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 80ff0c3c-dbe4-4dce-83fe-6bbfcac84f3c · outbound

This paper cites Scalability in perception for autonomous driving: Waymo open dataset.

Bench2Drive-Robust: Benchmarking Closed-Loop Autonomous Driving under Deployment Perturbations Scalability in perception for autonomous driving: Waymo open dataset

Reference 61

Resolution: verified fuzzy; raw_fallback, observed 2026-05-20T10:13:12.416185Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 0811c4c6-7c23-4857-b301-87bde6d8b456 · outbound

This paper cites Bdd100k: A diverse driving dataset for heterogeneous mul- titask learning.

Bench2Drive-Robust: Benchmarking Closed-Loop Autonomous Driving under Deployment Perturbations Bdd100k: A diverse driving dataset for heterogeneous mul- titask learning

Reference 62

Resolution: verified fuzzy; raw_fallback, observed 2026-05-20T10:13:12.431743Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation ab7847bc-89a2-4b38-a0b2-2db94ef7fc59 · outbound

This paper cites One Million Scenes for Autonomous Driving: ONCE Dataset.

Bench2Drive-Robust: Benchmarking Closed-Loop Autonomous Driving under Deployment Perturbations One Million Scenes for Autonomous Driving: ONCE Dataset

Reference 63

Resolution: verified exact; arxiv_id, observed 2026-05-20T10:13:11.852079Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 3f9b9ef7-9777-4976-b49d-26dd21dbc2ec · outbound

This paper cites Pandaset: Advanced sensor suite dataset for autonomous driving.

Bench2Drive-Robust: Benchmarking Closed-Loop Autonomous Driving under Deployment Perturbations Pandaset: Advanced sensor suite dataset for autonomous driving

Reference 64

Resolution: verified fuzzy; raw_fallback, observed 2026-05-20T10:13:12.392585Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation c5139956-f590-4adf-a726-256df396dbff · outbound

This paper cites Parting with mis- conceptions about learning-based vehicle motion planning.

Bench2Drive-Robust: Benchmarking Closed-Loop Autonomous Driving under Deployment Perturbations Parting with mis- conceptions about learning-based vehicle motion planning

Reference 65

Resolution: verified fuzzy; raw_fallback, observed 2026-05-20T10:13:12.395159Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation f6251126-c261-4123-a8ee-b55b6c083584 · outbound

This paper cites Carla: An open urban driving simulator.

Bench2Drive-Robust: Benchmarking Closed-Loop Autonomous Driving under Deployment Perturbations Carla: An open urban driving simulator

Reference 66

Resolution: verified fuzzy; raw_fallback, observed 2026-05-20T10:13:12.429388Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation e50423c9-0733-45cb-9c04-7f259c3c8b33 · outbound

This paper cites NuPlan: A closed-loop ML-based planning benchmark for autonomous vehicles.

Bench2Drive-Robust: Benchmarking Closed-Loop Autonomous Driving under Deployment Perturbations NuPlan: A closed-loop ML-based planning benchmark for autonomous vehicles

Reference 67

Resolution: verified exact; local_arxiv, observed 2026-05-20T10:13:11.848298Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation bd98c08f-1357-4da9-9292-5c2da56e7888 · outbound

This paper cites Navsim: Data-driven non- reactive autonomous vehicle simulation and benchmarking.Advances in Neural Information Processing Systems, 37:28706–28719.

Bench2Drive-Robust: Benchmarking Closed-Loop Autonomous Driving under Deployment Perturbations Navsim: Data-driven non- reactive autonomous vehicle simulation and benchmarking.Advances in Neural Information Processing Systems, 37:28706–28719

Reference 68

Resolution: verified fuzzy; raw_fallback, observed 2026-05-20T10:13:12.413879Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 676e5a64-0537-4461-8c93-77d3e287b6c4 · outbound

This paper cites Drivearena: A closed-loop generative simulation platform for autonomous driving.

Bench2Drive-Robust: Benchmarking Closed-Loop Autonomous Driving under Deployment Perturbations Drivearena: A closed-loop generative simulation platform for autonomous driving

Reference 69

Resolution: verified fuzzy; raw_fallback, observed 2026-05-20T10:13:12.421716Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 1909886f-93af-4526-bd36-c8a33ab0243a · outbound

This paper cites Gameformer: Game-theoretic modeling and learning of transformer-based interactive prediction and planning for autonomous driving.

Bench2Drive-Robust: Benchmarking Closed-Loop Autonomous Driving under Deployment Perturbations Gameformer: Game-theoretic modeling and learning of transformer-based interactive prediction and planning for autonomous driving

Reference 70

Resolution: verified fuzzy; raw_fallback, observed 2026-05-20T10:13:12.460375Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation c353dd02-782f-4c6b-80ff-590ebdb50a7b · outbound

This paper cites Can users specify driving speed? bench2drive-speed: Benchmark and baselines for desired-speed conditioned autonomous driving.

Bench2Drive-Robust: Benchmarking Closed-Loop Autonomous Driving under Deployment Perturbations Can users specify driving speed? bench2drive-speed: Benchmark and baselines for desired-speed conditioned autonomous driving

Reference 71

Resolution: verified exact; arxiv_id, observed 2026-05-20T10:13:11.812931Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 4c7c1a69-542e-4130-afdc-6a33ab386235 · outbound

This paper cites Hydra- next: Robust closed-loop driving with open-loop training.

Bench2Drive-Robust: Benchmarking Closed-Loop Autonomous Driving under Deployment Perturbations Hydra- next: Robust closed-loop driving with open-loop training

Reference 72

Resolution: verified fuzzy; raw_fallback, observed 2026-05-20T10:13:12.448081Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 2dee429e-a8d9-4e6c-a3d6-0dd192e2530c · outbound

This paper cites Benchmarking neural network robustness to common corruptions and perturbations.

Bench2Drive-Robust: Benchmarking Closed-Loop Autonomous Driving under Deployment Perturbations Benchmarking neural network robustness to common corruptions and perturbations

Reference 73

Resolution: verified fuzzy; raw_fallback, observed 2026-05-20T10:13:12.390490Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 1daddb4a-27d5-49d0-a03e-0cb355e5cee7 · outbound

This paper cites Benchmarking Robustness in Object Detection: Autonomous Driving when Winter is Coming.

Bench2Drive-Robust: Benchmarking Closed-Loop Autonomous Driving under Deployment Perturbations Benchmarking Robustness in Object Detection: Autonomous Driving when Winter is Coming

Reference 74

Resolution: verified exact; arxiv_id, observed 2026-05-20T10:13:11.844541Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation fa819066-45e9-429a-a392-6830a9461e2b · outbound

This paper cites Dynamic deadlines in motion planning for autonomous driving systems.UC Berkeley.

Bench2Drive-Robust: Benchmarking Closed-Loop Autonomous Driving under Deployment Perturbations Dynamic deadlines in motion planning for autonomous driving systems.UC Berkeley

Reference 75

Resolution: verified fuzzy; raw_fallback, observed 2026-05-20T10:13:12.380587Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation fdce3cd4-f2bf-45fa-a346-08f33bbbf187 · outbound

This paper cites LeAD: The LLM Enhanced Planning System Converged with End-to-end Autonomous Driving.

Bench2Drive-Robust: Benchmarking Closed-Loop Autonomous Driving under Deployment Perturbations LeAD: The LLM Enhanced Planning System Converged with End-to-end Autonomous Driving

Reference 76

Resolution: verified exact; arxiv_id, observed 2026-05-20T10:13:11.832735Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 41b7c040-3041-4d50-9233-a8a6f3f4f103 · outbound

This paper cites Autonomous vehicle positioning with gps in urban canyon environments.IEEE transactions on robotics and automation, 19(1):15–25.

Bench2Drive-Robust: Benchmarking Closed-Loop Autonomous Driving under Deployment Perturbations Autonomous vehicle positioning with gps in urban canyon environments.IEEE transactions on robotics and automation, 19(1):15–25

Reference 77

Resolution: verified fuzzy; raw_fallback, observed 2026-05-20T10:13:12.497203Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation ee9b6464-40f8-4fbc-b778-ea68d2e46aae · outbound

This paper cites Accurate visual localization for automotive applications.

Bench2Drive-Robust: Benchmarking Closed-Loop Autonomous Driving under Deployment Perturbations Accurate visual localization for automotive applications

Reference 78

Resolution: verified fuzzy; raw_fallback, observed 2026-05-20T10:13:12.382818Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation 43368444-5579-4f0e-9634-fbed5de82735 · outbound

This paper cites Evaluating localization accuracy of automated driving systems.Sensors, 21(17):5855.

Bench2Drive-Robust: Benchmarking Closed-Loop Autonomous Driving under Deployment Perturbations Evaluating localization accuracy of automated driving systems.Sensors, 21(17):5855

Reference 79

Resolution: verified exact; doi, observed 2026-05-20T10:13:11.197053Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation ddef09ff-a8da-4b7d-8224-13a83cf5a778 · outbound

This paper cites Reliable urban vehicle localization under faulty satellite navigation signals.EURASIP Journal on Advances in Signal Processing, 2024(1):32.

Bench2Drive-Robust: Benchmarking Closed-Loop Autonomous Driving under Deployment Perturbations Reliable urban vehicle localization under faulty satellite navigation signals.EURASIP Journal on Advances in Signal Processing, 2024(1):32

Reference 80

Resolution: malformed identifier; raw_fallback, observed 2026-05-20T10:13:12.397887Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Observation ff6c5058-92c2-4f6f-b004-10ca86dd6232 · outbound

This paper cites A survey on sensor failures in autonomous vehicles: Challenges and solutions.Sensors, 24(16):5108.

Bench2Drive-Robust: Benchmarking Closed-Loop Autonomous Driving under Deployment Perturbations A survey on sensor failures in autonomous vehicles: Challenges and solutions.Sensors, 24(16):5108

Reference 81

Resolution: verified fuzzy; raw_fallback, observed 2026-05-20T10:13:12.499095Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-06T06:34:29.942622+00:00.

Coverage vector

Reference resolution

Outbound references

Pith citing papers