This is a repository for collecting resources about Multi-Agent Autonomous Driving (MAAD). Different from single-agent autonomous driving which mainly focus on enhancing the driving capabilities of a single vehicle, MAAD focuses on the collaboration and interaction between multiple agents including vehicles and infrastructure.
If you want to understand the FULL-STACK technology of MULTI-AGENT AUTONOMOUS DRIVING, then this repo is definitely for you!
Feel free to pull requests or contact us if you find any related papers that are not included here.
The process to submit a pull request is as follows:
- Fork the project into your own repository.
- Add the Title, Paper link, Conference, Project/Code link in
papers.mdusing the following format:
`[Journal/Conference]` Paper Title [Code/Project](Code/Project link)- Submit the pull request to this branch.
[TPAMI'24]3D Object Detection From Images for Autonomous Driving: A Survey [PDF][TITS'24]A Survey on Recent Advancements in Autonomous Driving Using Deep Reinforcement Learning: Applications, Challenges, and Solutions [PDF][ESWA]Autonomous driving system: A comprehensive survey [PDF][TPAMI'24]Delving Into the Devils of Bird's-Eye-View Perception: A Review, Evaluation and Recipe [PDF][TPAMI]End-to-End Autonomous Driving: Challenges and Frontiers [PDF, Code][arXiv]LLM4Drive: A Survey of Large Language Models for Autonomous Driving [PDF, Code][arXiv]Multi-Agent Autonomous Driving Systems with Large Language Models: A Survey of Recent Advances [PDF, Code][WACV Workshop]A Survey on Multimodal Large Language Models for Autonomous Driving [PDF][arXiv]A Survey of Reasoning with Foundation Models [PDF, Code][arXiv]Collaborative Perception for Connected and Autonomous Driving: Challenges, Possible Solutions and Opportunities [PDF][Annual Review of Control, Robotics, and Autonomous Systems]Planning and decision-making for autonomous vehicles [PDF][Chinese Journal of Mechanical Engineering]Planning and Decision-making for Connected Autonomous Vehicles at Road Intersections: A Review [PDF][COMST'22]A Survey of Collaborative Machine Learning Using 5G Vehicular Communications [PDF][Proceedings of the IEEE]6G for Vehicle-to-Everything (V2X) Communications: Enabling Technologies, Challenges, and Opportunities [PDF][arXiv'25]Vision-Language-Action Models for Autonomous Driving: Past, Present, and Future [PDF][ICCV'25 Workshop]A Survey on Vision-Language-Action Models for Autonomous Driving [PDF][IEEE Trans'25]Large (Vision) Language Models for Autonomous Vehicles: Current Trends and Future Directions [PDF][IEEE Trans'25]Multi-agent Reinforcement Learning for Connected and Automated Vehicles Control: Recent Advancements and Future Prospects [PDF][IEEE'25]Cooperative Perception for Automated Driving: A Survey of Algorithms, Applications, and Future Directions [PDF][arXiv'25]Collaborative Perception Datasets for Autonomous Driving: A Review [PDF][arXiv'25]Cooperative Safety Intelligence in V2X-Enabled Transportation: A Survey [PDF][arXiv'25]Recent Advances in Multi-Agent Human Trajectory Prediction [PDF][arXiv'25]Towards Vehicle-to-Everything Autonomous Driving: A Survey on Collaborative Perception [PDF][arXiv'25]V2X Cooperative Perception for Autonomous Driving: Recent Advances and Challenges [PDF]
- Awesome Autonomous Driving
- Autonomous Driving Datasets
- Awesome 3D Object Detection for Autonomous Driving
- CVPR 2024 Papers on Autonomous Driving
- End-to-End Autonomous Driving
- End-to-End Autonomous Driving (OpenDriveLab)
- Collaborative Perception
- Vision Language Models in Autonomous Driving and ITS
[ICCV'25 Workshop]Learning 3D Perception from Others' Predictions (R&B-POP) [PDF] [Code][ICCV'25 Workshop]RG-Attn: Radian Glue Attention for Multi-modal Multi-agent Cooperative Perception [PDF][ICCV'25 Workshop]MIC-BEV: Infrastructure-Based Multi-Camera Bird's-Eye-View Perception Transformer for 3D Object Detection [PDF][ICCV'25 Workshop]SlimComm: Doppler-Guided Sparse Queries for Bandwidth-Efficient Cooperative 3-D Perception [PDF][ICCV'25 Workshop]D3FNet: A Differential Attention Fusion Network for Fine-Grained Road Structure Extraction in Remote Perception Systems [PDF][ICCV'25 Workshop]Understanding What Vision-Language Models See in Traffic: PixelSHAP for Object-Level Attribution in Autonomous Driving [PDF][ICCV'25 Workshop]Scene-Aware Location Modeling for Data Augmentation in Automotive Object Detection [PDF][ICCV'25 Workshop]Cross-camera Monocular 3D Detection for Autonomous Racing [PDF][ICRA'25]CoopDETR: A Unified Cooperative Perception Framework for 3D Detection via Object Query [PDF][arXiv'25]V2V-LLM: Vehicle-to-Vehicle Cooperative Autonomous Driving with Multi-Modal Large Language Models [PDF] [Code] [Webpage][Electronics'25]Vision-Language Models for Autonomous Driving: CLIP-based Dynamic Scene Understanding [PDF][CVPR'25]CoSDH: Communication-Efficient Collaborative Perception via Supply-Demand Awareness and Intermediate-Late Hybridization [PDF] [Code][CVPR'25]One is Plenty: A Polymorphic Feature Interpreter for Immutable Heterogeneous Collaborative Perception [PDF][CVPR'25]SparseAlign: A Fully Sparse Framework for Cooperative Object Detection [PDF][CVPR'25]Trajectory-aware Feature Alignment for Asynchronous Multi-Agent Perception [PDF][ICCV'25]V2XPnP: Vehicle-to-Everything Spatio-Temporal Fusion for Multi-Agent Perception and Prediction [PDF][ICCV'25]mmCooper: A Multi-agent Multi-stage Communication-efficient and Collaboration-robust Cooperative Perception Framework [PDF][AAAI'25]Privacy-Preserving V2X Collaborative Perception [PDF][IEEE'25]SCOPE++: Robust Multi-Agent Collaborative Perception via Spatio-Temporal Awareness [PDF][IEEE VTC'25]Robust Multi-Agent Collaborative Perception via Triple-Attention and Dynamic Gating [PDF][arXiv'25]FocalComm: Hard Instance-Aware Multi-Agent Perception [PDF][NeurIPS'25]STAMP: Scalable Task- And Model-Agnostic Collaborative Perception [PDF] [Code][arXiv'25]CollaMamba: Efficient Collaborative Perception with Cross-Agent Spatial-Temporal State Space Model [PDF][arXiv'25]CoMamba: Real-Time Cooperative Perception Unlocked with State Space Models [PDF][arXiv'25]CoDiff: Conditional Diffusion Model for Collaborative 3D Object Detection [PDF][arXiv'25]DiffCP: Ultra-Low Bit Collaborative Perception via Diffusion Model [PDF][arXiv'25]QuantV2X: A Fully Quantized Multi-Agent System for Cooperative Perception [PDF][arXiv'25]ReVQom: Residual Vector Quantization For Communication-Efficient Multi-Agent Perception [PDF][arXiv'25]CoBEVGlue: Self-Localized Collaborative Perception [PDF][arXiv'25]RDComm: Rate-Distortion Optimized Communication for Collaborative Perception [PDF][arXiv'25]JigsawComm: Joint Semantic Feature Encoding and Transmission for Communication-Efficient Cooperative Perception [PDF][arXiv'25]FadeLead: Curriculum-Guided Background Pruning for Efficient Foreground-Centric Collaborative Perception [PDF][arXiv'25]ParCon: Noise-Robust Collaborative Perception via Multi-Module Parallel Connection [PDF][arXiv'25]SiCP: Simultaneous Individual and Cooperative Perception for 3D Object Detection in Connected and Automated Vehicles [PDF][TITS'24]Toward Full-Scene Domain Generalization in Multi-Agent Collaborative Bird's Eye View Segmentation for Connected and Autonomous Driving [PDF][CVPR'24]Collaborative Semantic Occupancy Prediction with Hybrid Feature Fusion in Connected Automated Vehicles [PDF] [Code][ECCV'24]Hetecooper: Feature Collaboration Graph for Heterogeneous Collaborative Perception [PDF][ECCV'24]Rethinking the Role of Infrastructure in Collaborative Perception [PDF][NeurIPS'24]Learning Cooperative Trajectory Representations for Motion Forecasting [PDF] [Code][AAAI'24]What Makes Good Collaborative Views? Contrastive Mutual Information Maximization for Multi-Agent Perception [PDF] [Code][AAAI'24]DI-V2X: Learning Domain-Invariant Representation for Vehicle-Infrastructure Collaborative 3D Object Detection [PDF] [Code][WACV'24]MACP: Efficient Model Adaptation for Cooperative Perception [PDF] [Code][ICRA'24]Probabilistic 3D Multi-Object Cooperative Tracking for Autonomous Driving via Differentiable Multi-Sensor Kalman Filter [PDF] [Code][ICRA'24]Robust Collaborative Perception without External Localization and Clock Devices [PDF] [Code][ICCV'23]Spatio-Temporal Domain Awareness for Multi-Agent Collaborative Perception [PDF] [Webpage][ICCV'23]HM-ViT: Hetero-modal Vehicle-to-Vehicle Cooperative Perception with Vision Transformer [PDF] [Code][ICCV'23]CORE: Cooperative Reconstruction for Multi-Agent Perception [PDF] [Code][ICCV'23]Spatio-Temporal Domain Awareness for Multi-Agent Collaborative Perception [PDF] [Code][ICCV'23]TransIFF: An Instance-Level Feature Fusion Framework for Vehicle-Infrastructure Cooperative 3D Detection with Transformers [PDF][ICCV'23]UMC: A Unified Bandwidth-Efficient and Multi-Resolution Based Collaborative Perception Framework [PDF] [Code][CVPR'23]Query-Centric Trajectory Prediction [PDF] [Code][CVPR'23]Collaboration Helps Camera Overtake LiDAR in 3D Detection [PDF] [Code][CVPR'23]BEVHeight: A Robust Framework for Vision-Based Roadside 3D Object Detection [PDF] [Code][NeurIPS'23]Robust Asynchronous Collaborative 3D Detection via Bird's Eye View Flow [PDF] [Code][NeurIPS'23]Flow-Based Feature Fusion for Vehicle-Infrastructure Cooperative 3D Object Detection [PDF] [Code][NeurIPS'23]How2comm: Communication-Efficient and Collaboration-Pragmatic Multi-Agent Perception [PDF] [Code][TIV'23]HYDRO-3D: Hybrid object detection and tracking for cooperative perception using 3D LiDAR [PDF][ICLR'23]CO3: Cooperative Unsupervised 3D Representation Learning for Autonomous Driving [PDF] [Code][CoRL'23]BM2CP: Efficient Collaborative Perception with LiDAR-Camera Modalities [PDF] [Code][ACMMM'23]DUSA: Decoupled Unsupervised Sim2Real Adaptation for Vehicle-to-Everything Collaborative Perception [PDF] [Code][ACMMM'23]FeaCo: Reaching Robust Feature-Level Consensus in Noisy Pose Conditions [PDF] [Code][ACMMM'23]What2comm: Towards Communication-Efficient Collaborative Perception via Feature Decoupling [PDF] [Code][WACV'23]Adaptive Feature Fusion for Cooperative Perception Using LiDAR Point Clouds [PDF] [Code][ICRA'23]Bridging the Domain Gap for Multi-Agent Perception [PDF] [Code][ICRA'23]Deep Masked Graph Matching for Correspondence Identification in Collaborative Perception [PDF] [Code][ICRA'23]Uncertainty Quantification of Collaborative Detection for Self-Driving [PDF] [Code][ICRA'23]Model-Agnostic Multi-Agent Perception Framework [PDF] [Code][CoRL'22]CoBEVT: Cooperative bird's eye view semantic segmentation with sparse transformers [PDF] [Code][CVPR'22]COOPERNAUT: End-to-End Driving with Cooperative Perception for Networked Vehicles [PDF] [Code][CVPR'22]Learning from All Vehicles [PDF] [Code][ECCV'22]Latency-Aware Collaborative Perception [PDF] [Code][CoRL'22]Multi-Robot Scene Completion: Towards Task-Agnostic Collaborative Perception [PDF] [Code][ACMMM'22]Complementarity-Enhanced and Redundancy-Minimized Collaboration Network for Multi-agent Perception [PDF][ICRA'22]Multi-Robot Collaborative Perception with Graph Neural Networks [PDF]
[ICCV'25 Workshop]Drive-R1: Bridging Reasoning and Planning in VLMs for Autonomous Driving with Reinforcement Learning [PDF][ICCV'25 Workshop]Contextual-Personalized Adaptive Cruise Control via Fine-Tuned Large Language Models [PDF][ICCV'25 Workshop]Multi-modal Large Language Model for Training-free Vision-based Driver State [PDF][ICCV'25 Workshop]V2X-based Logical Scenario Understanding with Vision-Language Models [PDF][TMC'25]AgentsCoMerge: Large Language Model Empowered Collaborative Decision Making for Ramp Merging [PDF][arXiv]A Vehicle-Infrastructure Multi-layer Cooperative Decision-making Framework [PDF][arXiv'24]CoMAL: Collaborative Multi-Agent Large Language Models for Mixed-Autonomy Traffic [PDF][Code][arXiv'24]AGENTSCODRIVER: Large Language Model Empowered Collaborative Driving with Lifelong Learning [PDF][arXiv]Research on Autonomous Driving Decision-making Strategies based Deep Reinforcement Learning [PDF][ECCV'24]MAPPO-PIS: A Multi-Agent Proximal Policy Optimization Method with Prior Intent Sharing for CAVs' Cooperative Decision-Making [PDF] [Code][TITS'24]Cooperative decision-making for cavs at unsignalized intersections: A marl approach with attention and hierarchical game priors [PDF][TITS'24]A Multi-Agent Reinforcement Learning Approach for Safe and Efficient Behavior Planning of Connected Autonomous Vehicles [PDF][TVT'24]Towards Interactive and Learnable Cooperative Driving Automation: a Large Language Model-Driven Decision-Making Framework [PDF][Code][TIV'24]KoMA: Knowledge-driven Multi-agent Framework for Autonomous Driving with Large Language Models [PDF] [Code][ESWA'25]CCMA: A Framework for Cascading Cooperative Multi-agent in Autonomous Driving Merging using Large Language Models [PDF][ICCV'25]CoLMDriver: LLM-based Negotiation Benefits Cooperative Autonomous Driving [PDF][IEEE'25]LMMCoDrive: Cooperative Driving with Large Multimodal Models [PDF][IEEE'25]DriVLMe: Enhancing LLM-based Autonomous Driving Agents with Embodied and Social Experiences [PDF][arXiv'23]LanguageMPC: Large Language Models as Decision Makers for Autonomous Driving [PDF][arXiv'25]Context-aware Decision Making in Autonomous Vehicles [PDF][arXiv'25]Multi-Agent Deep Reinforcement Learning for Safe Autonomous Driving [PDF][IEEE'25]Mixed Motivation Driven Social Multi-Agent Reinforcement Learning [PDF][Frontiers'25]Multi-agent Reinforcement Learning Framework for Traffic Flow Management [PDF][arXiv'25]Right-of-Way Based Multi-Agent Deep Reinforcement Learning [PDF][arXiv'25]Cooperative Control of Self-Learning Traffic Signal and Connected Automated Vehicles [PDF][arXiv'25]CoDrivingLLM: Towards Interactive and Learnable Cooperative Driving Automation [PDF] [Code][arXiv'25]LangCoop: Collaborative Driving with Language [PDF][arXiv'25]RSU-Assisted Cooperative Driving: A Multi-Agent Reinforcement Learning Approach [PDF][arXiv'25]Debrief: Talking Vehicles - Cooperative Driving via Natural Language [PDF][arXiv'25]NegoCollab: A Common Representation Negotiation Approach for Heterogeneous Collaborative Perception [PDF][World Electric Vehicle Journal'24]A Review of Decision-Making and Planning for Autonomous Vehicles in Intersection Environments [PDF][TVT'24]Decision-Making for Autonomous Vehicles in Random Task Scenarios at Unsignalized Intersection Using Deep Reinforcement Learning [PDF][DDCLS'24]A Brief Survey of Deep Reinforcement Learning for Intersection Navigation of Autonomous Vehicles [PDF][ICDE'24]Parameterized Decision-making with Multi-modality Perception for Autonomous Driving [PDF][ICDE'24]Parameterized Decision-Making with Multi-Modality Perception for Autonomous Driving [PDF][RAL'24]Language-driven policy distillation for cooperative driving in multi-agent reinforcement learning [PDF][IoTML]Research on Autonomous Driving Decision-making Strategies based Deep Reinforcement Learning [PDF][ITSC'23]Curriculum Proximal Policy Optimization with Stage-Decaying Clipping for Self-Driving at Unsignalized Intersections [PDF][IV'23]Hybrid Decision Making for Autonomous Driving in Complex Urban Scenarios [PDF][TIV'23]Robust Lane Change Decision Making for Autonomous Vehicles: An Observation Adversarial Reinforcement Learning Approach [PDF][TITS'23]Robust Decision Making for Autonomous Vehicles at Highway On-Ramps: A Constrained Adversarial Reinforcement Learning Approach [PDF][TVT'23]Exploiting Multi-Modal Fusion for Urban Autonomous Driving Using Latent Deep Reinforcement Learning [PDF][TIV'23]A Multi-Vehicle Game-Theoretic Framework for Decision Making and Planning of Autonomous Vehicles in Mixed Traffic [PDF][TVT'23]Towards Robust Decision-Making for Autonomous Driving on Highway [PDF][Code][IEEE Transactions on Transportation Electrification'23]Interaction-Aware Decision-Making for Autonomous Vehicles [PDF][ICRA'23]Failure Detection for Motion Prediction of Autonomous Driving: An Uncertainty Perspective [PDF][TITS'23]Deep Multi-agent Reinforcement Learning for Highway On-Ramp Merging in Mixed Traffic [PDF][Code][arXiv'23]Spatial-Temporal-Aware Safe Multi-Agent Reinforcement Learning of Connected Autonomous Vehicles in Challenging Scenarios [PDF][arXiv'23]Multi-Agent Reinforcement Learning Guided by Signal Temporal Logic Specifications [PDF][TITS'23]Coordinating CAV Swarms at Intersections With a Deep Learning Model [PDF][National Conference on Sensors'23]A Comprehensive Survey on Multi-Agent Reinforcement Learning for Connected and Automated Vehicles [PDF][arXiv]Bringing Diversity to Autonomous Vehicles: An Interpretable Multi-vehicle Decision-making and Planning Framework [PDF][ISSN'22]Reinforcement Learning-Based Autonomous Driving at Intersections in CARLA Simulator [PDF][Autonomous Intelligent Systems'22]Multi-agent Reinforcement Learning for Cooperative Lane Changing of Connected and Autonomous Vehicles in Mixed Traffic [PDF][TVT'22]Highway Decision-Making and Motion Planning for Autonomous Driving via Soft Actor-Critic [PDF][TITS'22]PNNUAD: Perception Neural Networks Uncertainty Aware Decision-Making for Autonomous Vehicle [PDF][CoRL'22]Socially-Attentive Policy Optimization in Multi-Agent Self-Driving System [PDF][TITS'22]Social Coordination and Altruism in Autonomous Driving [PDF][TITS'22]Multi-Agent DRL-Based Lane Change With Right-of-Way Collaboration Awareness [PDF][arXiv'22]Graph Reinforcement Learning Application to Co-operative Decision-Making in Mixed Autonomy Traffic: Framework, Survey, and Challenges [PDF] [Code][Autonomous Intelligent Systems'22]Multi-agent reinforcement learning for autonomous vehicles: a survey [PDF][IROS'21]Cooperative Autonomous Vehicles that Sympathize with Human Drivers [PDF] [Code][CoRL'20]SMARTS: Scalable Multi-Agent Reinforcement Learning Training School for Autonomous Driving [PDF][Code]
[ICCV'25 Workshop]V2XPnP: Vehicle-to-Everything Spatio-Temporal Fusion for Multi-Agent Perception and Prediction [PDF][ICCV'25 Workshop]MAP: End-to-End Autonomous Driving with Map-Assisted Planning [PDF][ICCV'25 Workshop]The Role of Radar in End-to-End Autonomous Driving [PDF][ICCV'25 Workshop]Robust Scenario Mining Assisted by Multimodal Semantics [PDF][ICCV'25 Workshop]Improving Event-Phase Captions in Multi-View Urban Traffic Videos via Prompt-Aware LoRA Tuning of Vision Language Models [PDF][arXiv]CoDriveVLM: VLM-Enhanced Urban Cooperative Dispatching and Motion Planning for Future Autonomous Mobility on Demand Systems [PDF][Code][arXiv]Improved Consensus ADMM for Cooperative Motion Planning of Large-Scale Connected Autonomous Vehicles with Limited Communication [PDF][Code][arXiv]THOMAS: TRAJECTORY HEATMAP OUTPUT WITH LEARNED MULTI-AGENT SAMPLING [PDF][arXiv]Real-Time Motion Prediction via Heterogeneous Polyline Transformer with Relative Pose Encoding [PDF)][Code][TPAMI'24]MTR++: Multi-Agent Motion Prediction with Symmetric Scene Modeling and Guided Intention Querying [PDF][AAAI'24]EDA: Evolving and Distinct Anchors for Multimodal Motion Prediction [PDF] [Code][arXiv'25]LeAD: The LLM Enhanced Planning System Converged with End-to-End Autonomous Driving [PDF][IEEE'25]LLMDriver: Autonomous Driving Planning Based on Large Language Models [PDF][arXiv'25]An LLM-Powered Cooperative Framework for Large-Scale Multi-Vehicle Navigation [PDF][ICRA'24]Parallel Optimization with Hard Safety Constraints for Cooperative Planning of Connected Autonomous Vehicles [PDF][RAL'24]SIMPL: A Simple and Efficient Multi-Agent Motion Prediction Baseline for Autonomous Driving [PDF][RAL'24]CMP: Cooperative Motion Prediction With Multi-Agent Communication [PDF][arXiv'25]UNCAP: Uncertainty-Guided Neurosymbolic Planning [PDF][Electronics'25]Eco-Cooperative Planning and Control of Connected Autonomous Vehicles Considering Energy Consumption Characteristics [PDF][IEEE'25]Multiagent Trajectory Prediction With Difficulty-Guided Feature Enhancement [PDF][ICCV'25]Unified Multi-Agent Trajectory Modeling with Masked Trajectory Diffusion [PDF][NeurIPS'25]TurboTrain: Towards Efficient and Balanced Multi-Task Learning for Multi-Agent Perception and Prediction [PDF][arXiv'25]Co-MTP: A Cooperative Trajectory Prediction Framework with Multi-Temporal Fusion for Autonomous Driving [PDF][arXiv'25]CoPAD: Multi-source Trajectory Fusion and Cooperative Trajectory Prediction with Anchor-Oriented Decoder in V2X Scenarios [PDF][arXiv'25]V2X-RECT: An Efficient V2X Trajectory Prediction Framework via Redundant Interaction Filtering and Tracking Error Correction [PDF][IEEE Internet of Things Journal'24]Coordination for Connected and Autonomous Vehicles at Unsignalized Intersections: An Iterative Learning-Based Collision-Free Motion Planning Method [PDF][ICCV'23]BiFF: Bi-level Future Fusion with Polyline-based Coordinate for Interactive Trajectory Prediction [PDF][CVPR'23]ProphNet: Efficient Agent-Centric Motion Forecasting with Anchor-Informed Proposals [PDF][CVPR'23]FJMP: Factorized Joint Multi-Agent Motion Prediction over Learned Directed Acyclic Interaction Graphs [PDF][Code][CVPR'23]MotionDiffuser: Controllable Multi-Agent Motion Prediction Using Diffusion [PDF[ICRA'23]Wayformer: Motion Forecasting via Simple & Efficient Attention Networks [PDF][ICRA'23]GoRela: Go Relative for Viewpoint-Invariant Motion Forecasting [PDF][ICRA'23]GANet: Goal Area Network for Motion Forecasting [PDF][Code][TITS'23]Decentralized iLQR for Cooperative Trajectory Planning of Connected Autonomous Vehicles via Dual Consensus ADMM [PDF][TIV'23]Fault-tolerant cooperative driving at signal-free intersections [PDF][TIV'23]OpenCDA-ROS: Enabling Seamless Integration of Simulation and Real-World Cooperative Driving Automation [PDF[TIV'23]Optimal Trajectory Planning for Connected and Automated Vehicles in Lane-Free Traffic With Vehicle Nudging [PDF][TIV'23]Multi-Vehicle Conflict Management With Status and Intent Sharing Under Time Delays [PDF][TIV'23]Optimizing Vehicle Re-Ordering Events in Coordinated Autonomous Intersection Crossings Under CAVs' Location Uncertainty [PDF][TIV'23]Optimizing Vehicle Re-Ordering Events in Coordinated Autonomous Intersection Crossings Under CAVs' Location Uncertainty [PDF][IEEE Robotics and Automation Letters'23]MacFormer: Map-Agent Coupled Transformer for Real-Time and Robust Trajectory Prediction [PDF][ICCV'23]Forecast-MAE: Self-supervised Pre-training for Motion Forecasting with Masked Autoencoders [PDF][CoRL'23]iPLAN: Intent-Aware Planning in Heterogeneous Traffic via Distributed Multi-Agent Reinforcement Learning[PDF][Code][NeurIPS'22]Motion Transformer with Global Intention Localization and Local Movement Refinement [PDF] [Code][CVPR'22]HiVT: Hierarchical Vector Transformer for Multi-Agent Motion Prediction [PDF][Code][ICRA'22]MultiPath++: Efficient Information Fusion and Trajectory Aggregation for Behavior Prediction [PDF][ICRA'22]GOHOME: Graph-Oriented Heatmap Output for future Motion Estimation [PDF][TPAMI'22]HDGT: Heterogeneous Driving Graph Transformer for Multi-Agent Trajectory Prediction via Scene Encoding [PDF][TITS'22]Cooperative Formation of Autonomous Vehicles in Mixed Traffic Flow: Beyond Platooning [PDF][TVT'22]Multi-Lane Unsignalized Intersection Cooperation With Flexible Lane Direction Based on Multi-Vehicle Formation Control [PDF][ICCV'21]DenseTNT: End-to-end Trajectory Prediction from Dense Goal Sets [PDF][ITSC'21]OpenCDA: An Open Cooperative Driving Automation Framework Integrated with Co-Simulation [PDF [Code]
[CVPR'24]Communication-Efficient Collaborative Perception via Information Filling with Codebook [PDF] [Code][CVPR'24]ERMVP: Communication-Efficient and Collaboration-Robust Multi-Vehicle Perception in Challenging Environments [PDF] [Code][CVPR'24]Multi-Agent Collaborative Perception via Motion-Aware Robust Communication Network [PDF] [Code][ICRA'23]Communication-Critical Planning via Multi-Agent Trajectory Exchange [PDF][ICRA'23]We Need to Talk: Identifying and Overcoming Communication-Critical Scenarios for Self-Driving [PDF][IJCAI'22]Robust Collaborative Perception against Communication Interruption [PDF][arXiv'25]InfoCom: Kilobyte-Scale Communication-Efficient Collaborative Perception with Information Bottleneck [PDF][arXiv'25]Map4comm: A Map-Aware Collaborative Perception Framework with Efficient-Bandwidth Information Fusion [PDF][ISPRS'25]MapCooper: A Communication-Efficient Collaborative Perception Framework via Map Alignment [PDF][arXiv'25]TOCOM-V2I: Task-Oriented Communication for Vehicle-to-Infrastructure Cooperative Perception [PDF][arXiv'25]PragComm: Pragmatic Communication in Multi-Agent Collaborative Perception [PDF][arXiv'25]How2Compress: Scalable and Efficient Edge Video Analytics via Adaptive Granular Video Compression [PDF]
[ICCV'25 Workshop]Research Challenges and Progress in the End-to-End V2X Cooperative Autonomous Driving Competition [PDF][IV'24]ICOP: Image-based Cooperative Perception for End-to-End Autonomous Driving [paper][TIV'23]End-to-end Autonomous Driving with Semantic Depth Cloud Mapping and Multi-agent [paper] [code][AAAI'22]CADRE: A Cascade Deep Reinforcement Learning Framework for Vision-Based Autonomous Urban Driving [paper] [code][NeurIPS'21]Learning to Simulate Self-Driven Particles System with Coordinated Policy Optimization [paper] [code] [Webpage][arXiv]End-to-End Autonomous Driving through V2X Cooperation [paper] [code][arXiv]AgentsCoMerge: Large Language Model Empowered Collaborative Decision Making for Ramp Merging [paper][arXiv]AgentsCoDriver: Large Language Model Empowered Collaborative Driving with Lifelong Learning [paper][NeurIPS'25]AutoVLA: A Vision-Language-Action Model for End-to-End Autonomous Driving with Adaptive Reasoning and Reinforcement Fine-Tuning [Webpage][arXiv'25]V2X-VLM: End-to-End V2X Cooperative Autonomous Driving Through Large Vision-Language Models [PDF][arXiv'25]V2V-GoT: Vehicle-to-Vehicle Cooperative Autonomous Driving with Multimodal Large Language Models and Graph-of-Thoughts [PDF][arXiv'25]V2X-REALM: Vision-Language Model-Based Robust End-to-End Cooperative Autonomous Driving with Adaptive Long-Tail Modeling [PDF][arXiv'25]V2X-UniPool: Unifying Multimodal Perception and Knowledge Reasoning for Autonomous Driving [PDF][arXiv'25]UniMM-V2X: MoE-Enhanced Multi-Level Fusion for End-to-End Cooperative Autonomous Driving [PDF]
[ICCV'25 Workshop]HetroD: A High-Fidelity Drone Dataset and Benchmark for Heterogeneous Traffic in Autonomous Driving [PDF][ICCV'21]V2X-Sim: Multi-Agent Collaborative Perception Dataset and Benchmark for Autonomous Driving [PDF] [Code] [Webpage][ACCV'22]DOLPHINS: Dataset for Collaborative Perception Enabled Harmonious and Interconnected Self-Driving [PDF] [Code] [Webpage][ICRA'22]OPV2V: An Open Benchmark Dataset and Fusion Pipeline for Perception with Vehicle-to-Vehicle Communication [PDF] [Code] [Webpage][ECCV'22]V2X-ViT: Vehicle-to-Everything Cooperative Perception with Vision Transformer [PDF] [Code] [Webpage][CVPR'22]COOPERNAUT: End-to-End Driving with Cooperative Perception for Networked Vehicles [PDF] [Code] [Webpage][CVPR'22]DAIR-V2X: A Large-Scale Dataset for Vehicle-Infrastructure Cooperative 3D Object Detection [PDF] [Code] [Webpage][NeurIPS'22]Where2comm: Communication-Efficient Collaborative Perception via Spatial Confidence Maps [PDF&review] [Code] [Webpage][NeurIPS'23]Robust Asynchronous Collaborative 3D Detection via Bird's Eye View Flow [PDF&review][CVPR'23]Collaboration Helps Camera Overtake LiDAR in 3D Detection [PDF] [Code] [Webpage][CVPR'23]V2V4Real: A Large-Scale Real-World Dataset for Vehicle-to-Vehicle Cooperative Perception [PDF] [Code] [Webpage][CVPR'23]V2X-Seq: The Large-Scale Sequential Dataset for the Vehicle-Infrastructure Cooperative Perception and Forecasting [PDF] [Code] [Webpage][ICRA'23]Robust Collaborative 3D Object Detection in Presence of Pose Errors [PDF] [Code] [Webpage][ICCV'23]Optimizing the Placement of Roadside LiDARs for Autonomous Driving [PDF][AAAI'24]DeepAccident: A Motion and Accident Prediction Benchmark for V2X Autonomous Driving [PDF] [Code] [Webpage][ICLR'24]An Extensible Framework for Open Heterogeneous Collaborative Perception [PDF&review] [Code] [Webpage][CVPR'24]HoloVIC: Large-Scale Dataset and Benchmark for Multi-Sensor Holographic Intersection and Vehicle-Infrastructure Cooperative [PDF] [Webpage][CVPR'24]Multiagent Multitraversal Multimodal Self-Driving: Open MARS Dataset [PDF] [Code] [Webpage][CVPR'24]RCooper: A Real-World Large-Scale Dataset for Roadside Cooperative Perception [PDF] [Code] [Webpage][CVPR'24]TUMTraf V2X Cooperative Perception Dataset [PDF] [Code] [Webpage][CVPR'24]Editable Scene Simulation for Autonomous Driving via Collaborative LLM-Agents [PDF] [Code] [Webpage][ECCV'24]H-V2X: A Large Scale Highway Dataset for BEV Perception [PDF][NeurIPS'24]Learning Cooperative Trajectory Representations for Motion Forecasting [PDF] [Code] [Webpage][NeurIPS'24]SMART: Scalable Multi-agent Real-time Motion Generation via Next-token Prediction [PDF] [Code] [Webpage][CVPR'25]Mono3DVLT: Monocular-Video-Based 3D Visual Language Tracking [PDF][CVPR'25]RCP-Bench: Benchmarking Robustness for Collaborative Perception Under Diverse Corruptions [PDF][CVPR'25]V2X-R: Cooperative LiDAR-4D Radar Fusion for 3D Object Detection with Denoising Diffusion [PDF] [Code][arXiv]Adver-City: Open-Source Multi-Modal Dataset for Collaborative Perception Under Adverse Weather Conditions [PDF] [Code] [Webpage][arXiv]CP-Guard+: A New Paradigm for Malicious Agent Detection and Defense in Collaborative Perception [PDF][arXiv]DriveGen: Toward Infinite Diverse Traffic Scenarios with Large Models [PDF][arXiv]Griffin: Aerial-Ground Cooperative Detection and Tracking Dataset and Benchmark [PDF] [Code] [Webpage][arXiv]InScope: A New Real-world 3D Infrastructure-side Collaborative Perception Dataset for Open Traffic Scenarios [PDF] [Code][arXiv]Mixed Signals: A Diverse Point Cloud Dataset for Heterogeneous LiDAR V2X Collaboration [PDF] [Code] [Webpage][arXiv]Multi-V2X: A Large Scale Multi-modal Multi-penetration-rate Dataset for Cooperative Perception [PDF] [Code][arXiv]RCDN: Towards Robust Camera-Insensitivity Collaborative Perception via Dynamic Feature-based 3D Neural Modeling [PDF][arXiv]V2V-LLM: Vehicle-to-Vehicle Cooperative Autonomous Driving with Multi-Modal Large Language Models [PDF] [Code] [Webpage][arXiv]V2XPnP: Vehicle-to-Everything Spatio-Temporal Fusion for Multi-Agent Perception and Prediction [PDF] [Code] [Webpage][arXiv]V2X-Radar: A Multi-Modal Dataset with 4D Radar for Cooperative Perception [PDF] [Webpage][arXiv]V2X-Real: a Large-Scale Dataset for Vehicle-to-Everything Cooperative Perception [PDF] [Webpage][arXiv]V2X-ReaLO: An Open Online Framework and Dataset for Cooperative Perception in Reality [PDF][arXiv]WHALES: A Multi-Agent Scheduling Dataset for Enhanced Cooperation in Autonomous Driving [PDF] [Code] [Webpage][arXiv]DriveGen: Towards Infinite Diverse Traffic Scenarios with Large Models [PDF][NeurIPS'25]UrbanIng-V2X: A Large-Scale Multi-Vehicle, Multi-Infrastructure Dataset Across Multiple Intersections [PDF] [Code][arXiv'25]CATS-V2V: A Real-World Vehicle-to-Vehicle Cooperative Perception Dataset with Complex Adverse Traffic Scenarios [PDF] [Code][arXiv'25]AGC-Drive: A Large-Scale Dataset for Real-World Aerial-Ground Collaboration in Driving Scenarios [PDF] [Code][arXiv'25]TruckV2X: A Truck-Centered Perception Dataset [PDF][arXiv'25]AirV2X: Unified Air-Ground Vehicle-to-Everything Collaboration [PDF][arXiv'25]CoInfra: A Large-Scale Cooperative Infrastructure Perception System and Dataset in Adverse Weather [PDF]
[CoRL'17]CARLA: An Open Urban Driving Simulator [PDF] [Code] [Webpage][NeurIPS'24]NAVSIM: Data-Driven Non-Reactive Autonomous Vehicle Simulation and Benchmarking [PDF] [Code] [Webpage][arXiv]DriveGen: Towards Infinite Diverse Traffic Scenarios with Large Models [PDF]
[TMC'25]Collaborative Perception Against Data Fabrication Attacks in Vehicular Networks [PDF][AAAI'25 Oral]CP-Guard: Malicious Agent Detection and Defense in Collaborative Bird's Eye View Perception [PDF, Code][IROS'24]Malicious Agent Detection for Robust Multi-Agent Collaborative Perception [PDF, Code][ICRA'24]AdvGPS: Adversarial GPS for Multi-Agent Perception Attack [PDF] [Code][JATS'24]RAMPART: Reinforcing Autonomous Multi-Agent Protection through Adversarial Resistance in Transportation [PDF][TITS'24]A Survey of Multi-Vehicle Consensus in Uncertain Networks for Autonomous Driving [PDF][USENIX Security'24]On Data Fabrication in Collaborative Vehicular Perception: Attacks and Countermeasures [PDF][AAAI'24]Robust Communicative Multi-Agent Reinforcement Learning with Active Defense [PDF][VehicleSec'23]Cooperative Perception for Safe Control of Autonomous Vehicles under LiDAR Spoofing Attacks [PDF][ICCV'23]Among Us: Adversarially Robust Collaborative Perception by Consensus [PDF, Code][TDSC'23]MARNet: Backdoor Attacks Against Cooperative Multi-Agent Reinforcement Learning [PDF][NeurIPS'23]Efficient Adversarial Attacks on Online Multi-agent Reinforcement Learning [PDF][TITS'22]A Survey on Cyber-Security of Connected and Autonomous Vehicles (CAVs) [PDF][ICCV'21]Adversarial Attacks On Multi-Agent Communication [PDF][arXiv'25]GCP: Guarded Collaborative Perception with Spatial-Temporal Aware Malicious Agent Detection [PDF][arXiv'25]CP-Guard+: A New Paradigm for Malicious Agent Detection and Defense in Collaborative Perception [PDF][arXiv'25]CP-FREEZER: Latency Attacks against Cooperative Perception [PDF][arXiv'25]DSRC: Learning Density-Insensitive and Semantic-Aware Collaborative Representation against Corruptions [PDF][arXiv'25]SafeCoop: Unravelling Full Stack Safety in Agentic Collaborative Driving [PDF][arXiv'25]CoDynTrust: Robust Asynchronous Collaborative Perception via Dynamic Feature Trust Modulus [PDF][arXiv]A Multi-Agent Security Testbed for the Analysis of Attacks and Defenses in Collaborative Sensor Fusion [PDF][ACM Computing Surveys]Adversarial Machine Learning Attacks and Defences in Multi-Agent Reinforcement Learning [PDF][USENIX Security'25]From Threat to Trust: Exploiting Attention Mechanisms for Attacks and Defenses in Cooperative Perception (SOMBRA & LUCIA) [PDF][ICCV'25]Pretend Benign: A Stealthy Adversarial Attack by Exploiting Vulnerabilities in Cooperative Perception [PDF][IEEE'25]Robust Collaborative Perception: Combining Adversarial Training with Consensus Mechanism for Enhanced V2X Security [PDF]
