Publications

LEAD: Minimizing Learner-Expert Asymmetry in End-to-End Driving (Runner Up, 2025 Waymo Challenge)
Long Nguyen, Micha Fauth, Bernhard Jaeger, Daniel Dauner, Maximilian Igl, Andreas Geiger, Kashyap Chitta
Conference on Computer Vision and Pattern Recognition (CVPR), 2026
Abs / Paper / Supplementary / Poster / Code /

@inproceedings{Nguyen2026CVPR, 
	author = {Long Nguyen and Micha Fauth and Bernhard Jaeger and Daniel Dauner and Maximilian Igl and Andreas Geiger and Kashyap Chitta}, 
	title = {LEAD: Minimizing Learner-Expert Asymmetry in End-to-End Driving}, 
	booktitle = {Conference on Computer Vision and Pattern Recognition (CVPR)}, 
	year = {2026}, 
}

Latent Chain-of-Thought World Modeling for End-to-End Driving
Shuhan Tan, Kashyap Chitta, Yuxiao Chen, Ran Tian, Yurong You, Yan Wang, Wenjie Luo, Yulong Cao, Philipp Krahenbuhl, Marco Pavone, Boris Ivanovic
Conference on Computer Vision and Pattern Recognition (CVPR), 2026
Abs / Paper /

@inproceedings{Tan2026CVPR, 
	author = {Shuhan Tan and Kashyap Chitta and Yuxiao Chen and Ran Tian and Yurong You and Yan Wang and Wenjie Luo and Yulong Cao and Philipp Krahenbuhl and Marco Pavone and Boris Ivanovic}, 
	title = {Latent Chain-of-Thought World Modeling for End-to-End Driving}, 
	booktitle = {Conference on Computer Vision and Pattern Recognition (CVPR)}, 
	year = {2026}, 
}

Agility Meets Stability: Versatile Humanoid Control with Heterogeneous Data
Yixuan Pan*, Ruoyi Qiao*, Li Chen, Kashyap Chitta, Liang Pan, Haoguang Mai, Qingwen Bu, Hao Zhao, Cunyuan Zheng, Ping Luo, Hongyang Li
International Conference on Robotics and Automation (ICRA), 2026
Abs / Paper / Video / Code /

@inproceedings{Pan2026ICRA, 
	author = {Yixuan Pan and Ruoyi Qiao and Li Chen and Kashyap Chitta and Liang Pan and Haoguang Mai and Qingwen Bu and Hao Zhao and Cunyuan Zheng and Ping Luo and Hongyang Li}, 
	title = {Agility Meets Stability: Versatile Humanoid Control with Heterogeneous Data}, 
	booktitle = {International Conference on Robotics and Automation (ICRA)}, 
	year = {2026}, 
}

ReSim: Reliable World Simulation for Autonomous Driving (Spotlight)
Jiazhi Yang, Kashyap Chitta, Shenyuan Gao, Long Chen, Yuqian Shao, Xiaosong Jia, Hongyang Li, Andreas Geiger, Xiangyu Yue, Li Chen
Advances in Neural Information Processing Systems (NeurIPS), 2025
Abs / Paper / Code /

@inproceedings{Yang2025NEURIPS, 
	author = {Jiazhi Yang and Kashyap Chitta and Shenyuan Gao and Long Chen and Yuqian Shao and Xiaosong Jia and Hongyang Li and Andreas Geiger and Xiangyu Yue and Li Chen}, 
	title = {ReSim: Reliable World Simulation for Autonomous Driving}, 
	booktitle = {Advances in Neural Information Processing Systems (NeurIPS)}, 
	year = {2025}, 
}

Pseudo-Simulation for Autonomous Driving
Wei Cao*, Marcel Hallgarten*, Tianyu Li*, Daniel Dauner, Xunjiang Gu, Caojun Wang, Yakov Miron, Marco Aiello, Hongyang Li, Igor Gilitschenski, Boris Ivanovic, Marco Pavone, Andreas Geiger, Kashyap Chitta
Conference on Robot Learning (CoRL), 2025
Abs / Paper / Supplementary / Code /

@inproceedings{Cao2025CORL, 
	author = {Wei Cao and Marcel Hallgarten and Tianyu Li and Daniel Dauner and Xunjiang Gu and Caojun Wang and Yakov Miron and Marco Aiello and Hongyang Li and Igor Gilitschenski and Boris Ivanovic and Marco Pavone and Andreas Geiger and Kashyap Chitta}, 
	title = {Pseudo-Simulation for Autonomous Driving}, 
	booktitle = {Conference on Robot Learning (CoRL)}, 
	year = {2025}, 
}

CaRL: Learning Scalable Planning Policies with Simple Rewards
Bernhard Jaeger, Daniel Dauner, Jens Beißwenger, Simon Gerstenecker, Kashyap Chitta, Andreas Geiger
Conference on Robot Learning (CoRL), 2025
Abs / Paper / Video / Code /

@inproceedings{Jaeger2025CORL, 
	author = {Bernhard Jaeger and Daniel Dauner and Jens Beißwenger and Simon Gerstenecker and Kashyap Chitta and Andreas Geiger}, 
	title = {CaRL: Learning Scalable Planning Policies with Simple Rewards}, 
	booktitle = {Conference on Robot Learning (CoRL)}, 
	year = {2025}, 
}

Vista: A Generalizable Driving World Model with High Fidelity and Versatile Controllability
Shenyuan Gao, Jiazhi Yang, Li Chen, Kashyap Chitta, Yihang Qiu, Andreas Geiger, Jun Zhang, Hongyang Li
Advances in Neural Information Processing Systems (NeurIPS), 2024
Abs / Paper / Video / Code /

@inproceedings{Gao2024NEURIPS, 
	author = {Shenyuan Gao and Jiazhi Yang and Li Chen and Kashyap Chitta and Yihang Qiu and Andreas Geiger and Jun Zhang and Hongyang Li}, 
	title = {Vista: A Generalizable Driving World Model with High Fidelity and Versatile Controllability}, 
	booktitle = {Advances in Neural Information Processing Systems (NeurIPS)}, 
	year = {2024}, 
}

NAVSIM: Data-Driven Non-Reactive Autonomous Vehicle Simulation and Benchmarking
Daniel Dauner, Marcel Hallgarten, Tianyu Li, Xinshuo Weng, Zhiyu Huang, Zetong Yang, Hongyang Li, Igor Gilitschenski, Boris Ivanovic, Marco Pavone, Andreas Geiger, Kashyap Chitta
Advances in Neural Information Processing Systems (NeurIPS), 2024
Abs / Paper / Supplementary / Video / Code /

@inproceedings{Dauner2024NEURIPS, 
	author = {Daniel Dauner and Marcel Hallgarten and Tianyu Li and Xinshuo Weng and Zhiyu Huang and Zetong Yang and Hongyang Li and Igor Gilitschenski and Boris Ivanovic and Marco Pavone and Andreas Geiger and Kashyap Chitta}, 
	title = {NAVSIM: Data-Driven Non-Reactive Autonomous Vehicle Simulation and Benchmarking}, 
	booktitle = {Advances in Neural Information Processing Systems (NeurIPS)}, 
	year = {2024}, 
}

End-to-end Autonomous Driving: Challenges and Frontiers
Li Chen, Penghao Wu, Kashyap Chitta, Bernhard Jaeger, Andreas Geiger, Hongyang Li
Transactions on Pattern Analysis and Machine Intelligence (T-PAMI), 2024
Abs / Paper / Code /

@article{Chen2024PAMI, 
	author = {Li Chen and Penghao Wu and Kashyap Chitta and Bernhard Jaeger and Andreas Geiger and Hongyang Li}, 
	title = {End-to-end Autonomous Driving: Challenges and Frontiers}, 
	booktitle = {Transactions on Pattern Analysis and Machine Intelligence (T-PAMI)}, 
	year = {2024}, 
}

DriveLM: Driving with Graph Visual Question Answering (Oral)
Chonghao Sima*, Katrin Renz*, Kashyap Chitta, Li Chen, Hanxue Zhang, Chengen Xie, Jens Beißwenger, Ping Luo, Andreas Geiger, Hongyang Li
European Conference on Computer Vision (ECCV), 2024
Abs / Paper / Code /

@inproceedings{Sima2024ECCV, 
	author = {Chonghao Sima and Katrin Renz and Kashyap Chitta and Li Chen and Hanxue Zhang and Chengen Xie and Jens Beißwenger and Ping Luo and Andreas Geiger and Hongyang Li}, 
	title = {DriveLM: Driving with Graph Visual Question Answering}, 
	booktitle = {European Conference on Computer Vision (ECCV)}, 
	year = {2024}, 
}

SLEDGE: Synthesizing Driving Environments with Generative Models and Rule-Based Traffic
Kashyap Chitta*, Daniel Dauner*, Andreas Geiger
European Conference on Computer Vision (ECCV), 2024
Abs / Paper / Supplementary / Video / Code /

@inproceedings{Chitta2024ECCV, 
	author = {Kashyap Chitta and Daniel Dauner and Andreas Geiger}, 
	title = {SLEDGE: Synthesizing Driving Environments with Generative Models and Rule-Based Traffic}, 
	booktitle = {European Conference on Computer Vision (ECCV)}, 
	year = {2024}, 
}

Generalized Predictive Model for Autonomous Driving (Highlight)
Jiazhi Yang*, Shenyuan Gao*, Yihang Qiu*, Li Chen, Tianyu Li, Bo Dai, Kashyap Chitta, Penghao Wu, Jia Zeng, Ping Luo, Jun Zhang, Andreas Geiger, Yu Qiao, Hongyang Li
Conference on Computer Vision and Pattern Recognition (CVPR), 2024
Abs / Paper / Code /

@inproceedings{Yang2024CVPR, 
	author = {Jiazhi Yang and Shenyuan Gao and Yihang Qiu and Li Chen and Tianyu Li and Bo Dai and Kashyap Chitta and Penghao Wu and Jia Zeng and Ping Luo and Jun Zhang and Andreas Geiger and Yu Qiao and Hongyang Li}, 
	title = {Generalized Predictive Model for Autonomous Driving}, 
	booktitle = {Conference on Computer Vision and Pattern Recognition (CVPR)}, 
	year = {2024}, 
}

Parting with Misconceptions about Learning-based Vehicle Motion Planning (Winner, 2023 nuPlan Challenge)
Daniel Dauner, Marcel Hallgarten, Andreas Geiger, Kashyap Chitta
Conference on Robot Learning (CoRL), 2023
Abs / Paper / Supplementary / Video / Poster / Code /

@inproceedings{Dauner2023CORL, 
	author = {Daniel Dauner and Marcel Hallgarten and Andreas Geiger and Kashyap Chitta}, 
	title = {Parting with Misconceptions about Learning-based Vehicle Motion Planning}, 
	booktitle = {Conference on Robot Learning (CoRL)}, 
	year = {2023}, 
}

Hidden Biases of End-to-End Driving Models (Winner, 2022 CARLA Challenge Map Track)
Bernhard Jaeger, Kashyap Chitta, Andreas Geiger
International Conference on Computer Vision (ICCV), 2023
Abs / Paper / Video / Poster / Code /

@inproceedings{Jaeger2023ICCV, 
	author = {Bernhard Jaeger and Kashyap Chitta and Andreas Geiger}, 
	title = {Hidden Biases of End-to-End Driving Models}, 
	booktitle = {International Conference on Computer Vision (ICCV)}, 
	year = {2023}, 
}

TransFuser: Imitation with Transformer-Based Sensor Fusion for Autonomous Driving (Runner Up, 2021 CARLA Challenge)
Kashyap Chitta, Aditya Prakash, Bernhard Jaeger, Zehao Yu, Katrin Renz, Andreas Geiger
Transactions on Pattern Analysis and Machine Intelligence (T-PAMI), 2023
Abs / Paper / Supplementary / Video / Poster / Code /

@article{Chitta2023PAMI, 
	author = {Kashyap Chitta and Aditya Prakash and Bernhard Jaeger and Zehao Yu and Katrin Renz and Andreas Geiger}, 
	title = {TransFuser: Imitation with Transformer-Based Sensor Fusion for Autonomous Driving}, 
	booktitle = {Transactions on Pattern Analysis and Machine Intelligence (T-PAMI)}, 
	year = {2023}, 
}

PlanT: Explainable Planning Transformers via Object-Level Representations
Katrin Renz, Kashyap Chitta, Otniel-Bogdan Mercea, Sophia Koepke, Zeynep Akata, Andreas Geiger
Conference on Robot Learning (CoRL), 2022
Abs / Paper / Supplementary / Video / Poster / Code /

@inproceedings{Renz2022CORL, 
	author = {Katrin Renz and Kashyap Chitta and Otniel-Bogdan Mercea and Sophia Koepke and Zeynep Akata and Andreas Geiger}, 
	title = {PlanT: Explainable Planning Transformers via Object-Level Representations}, 
	booktitle = {Conference on Robot Learning (CoRL)}, 
	year = {2022}, 
}

KING: Generating Safety-Critical Driving Scenarios for Robust Imitation via Kinematics Gradients (Oral)
Niklas Hanselmann, Katrin Renz, Kashyap Chitta, Apratim Bhattacharyya, Andreas Geiger
European Conference on Computer Vision (ECCV), 2022
Abs / Paper / Supplementary / Video / Poster / Code /

@inproceedings{Hanselmann2022ECCV, 
	author = {Niklas Hanselmann and Katrin Renz and Kashyap Chitta and Apratim Bhattacharyya and Andreas Geiger}, 
	title = {KING: Generating Safety-Critical Driving Scenarios for Robust Imitation via Kinematics Gradients}, 
	booktitle = {European Conference on Computer Vision (ECCV)}, 
	year = {2022}, 
}

Training Data Subset Search with Ensemble Active Learning
Kashyap Chitta, Jose Alvarez, Elmar Haussmann, Clement Farabet
Transactions on Intelligent Transportation Systems (T-ITS), 2021
Abs / Paper /

@article{Chitta2021ITS, 
	author = {Kashyap Chitta and Jose Alvarez and Elmar Haussmann and Clement Farabet}, 
	title = {Training Data Subset Search with Ensemble Active Learning}, 
	booktitle = {Transactions on Intelligent Transportation Systems (T-ITS)}, 
	year = {2021}, 
}

Projected GANs Converge Faster
Axel Sauer, Kashyap Chitta, Jens Muller, Andreas Geiger
Advances in Neural Information Processing Systems (NeurIPS), 2021
Abs / Paper / Supplementary / Video / Poster / Code /

@inproceedings{Sauer2021NEURIPS, 
	author = {Axel Sauer and Kashyap Chitta and Jens Muller and Andreas Geiger}, 
	title = {Projected GANs Converge Faster}, 
	booktitle = {Advances in Neural Information Processing Systems (NeurIPS)}, 
	year = {2021}, 
}

Benchmarking Unsupervised Object Representations for Video Sequences
Marissa Weis, Kashyap Chitta, Yash Sharma, Wieland Brendel, Matthias Bethge, Andreas Geiger, Alexander Ecker
Journal of Machine Learning Research (JMLR), 2021
Abs / Paper / Video / Code /

@article{Weis2021JMLR, 
	author = {Marissa Weis and Kashyap Chitta and Yash Sharma and Wieland Brendel and Matthias Bethge and Andreas Geiger and Alexander Ecker}, 
	title = {Benchmarking Unsupervised Object Representations for Video Sequences}, 
	booktitle = {Journal of Machine Learning Research (JMLR)}, 
	year = {2021}, 
}

NEAT: Neural Attention Fields for End-to-End Autonomous Driving (Runner Up, 2020 CARLA Challenge)
Kashyap Chitta*, Aditya Prakash*, Andreas Geiger
International Conference on Computer Vision (ICCV), 2021
Abs / Paper / Supplementary / Video / Poster / Code /

@inproceedings{Chitta2021ICCV, 
	author = {Kashyap Chitta and Aditya Prakash and Andreas Geiger}, 
	title = {NEAT: Neural Attention Fields for End-to-End Autonomous Driving}, 
	booktitle = {International Conference on Computer Vision (ICCV)}, 
	year = {2021}, 
}

Multi-Modal Fusion Transformer for End-to-End Autonomous Driving
Aditya Prakash*, Kashyap Chitta*, Andreas Geiger
Conference on Computer Vision and Pattern Recognition (CVPR), 2021
Abs / Paper / Supplementary / Video / Poster / Code /

@inproceedings{Prakash2021CVPR, 
	author = {Aditya Prakash and Kashyap Chitta and Andreas Geiger}, 
	title = {Multi-Modal Fusion Transformer for End-to-End Autonomous Driving}, 
	booktitle = {Conference on Computer Vision and Pattern Recognition (CVPR)}, 
	year = {2021}, 
}

Label Efficient Visual Abstractions for Autonomous Driving
Aseem Behl*, Kashyap Chitta*, Aditya Prakash, Eshed Ohn-Bar, Andreas Geiger
International Conference on Intelligent Robots and Systems (IROS), 2020
Abs / Paper / Video /

@inproceedings{Behl2020IROS, 
	author = {Aseem Behl and Kashyap Chitta and Aditya Prakash and Eshed Ohn-Bar and Andreas Geiger}, 
	title = {Label Efficient Visual Abstractions for Autonomous Driving}, 
	booktitle = {International Conference on Intelligent Robots and Systems (IROS)}, 
	year = {2020}, 
}

Scalable Active Learning for Object Detection
Elmar Haussmann, Michele Fenzi, Kashyap Chitta, Jan Ivanecky, Hanson Xu, Donna Roy, Akshita Mittel, Nicolas Koumchatzky, Clement Farabet, Jose Alvarez
Intelligent Vehicles Symposium (IV), 2020
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@inproceedings{Haussmann2020IV, 
	author = {Elmar Haussmann and Michele Fenzi and Kashyap Chitta and Jan Ivanecky and Hanson Xu and Donna Roy and Akshita Mittel and Nicolas Koumchatzky and Clement Farabet and Jose Alvarez}, 
	title = {Scalable Active Learning for Object Detection}, 
	booktitle = {Intelligent Vehicles Symposium (IV)}, 
	year = {2020}, 
}

Exploring Data Aggregation in Policy Learning for Vision-Based Urban Autonomous Driving
Aditya Prakash, Aseem Behl, Eshed Ohn-Bar, Kashyap Chitta, Andreas Geiger
Conference on Computer Vision and Pattern Recognition (CVPR), 2020
Abs / Paper / Supplementary / Video / Code /

@inproceedings{Prakash2020CVPR, 
	author = {Aditya Prakash and Aseem Behl and Eshed Ohn-Bar and Kashyap Chitta and Andreas Geiger}, 
	title = {Exploring Data Aggregation in Policy Learning for Vision-Based Urban Autonomous Driving}, 
	booktitle = {Conference on Computer Vision and Pattern Recognition (CVPR)}, 
	year = {2020}, 
}

Learning Situational Driving
Eshed Ohn-Bar, Aditya Prakash, Aseem Behl, Kashyap Chitta, Andreas Geiger
Conference on Computer Vision and Pattern Recognition (CVPR), 2020
Abs / Paper / Supplementary / Video /

@inproceedings{Ohn-bar2020CVPR, 
	author = {Eshed Ohn-Bar and Aditya Prakash and Aseem Behl and Kashyap Chitta and Andreas Geiger}, 
	title = {Learning Situational Driving}, 
	booktitle = {Conference on Computer Vision and Pattern Recognition (CVPR)}, 
	year = {2020}, 
}

Quadtree Generating Networks: Efficient Hierarchical Scene Parsing with Sparse Convolutions
Kashyap Chitta, Jose Alvarez, Martial Hebert
Winter Conference on Applications of Computer Vision (WACV), 2020
Abs / Paper / Poster / Code /

@inproceedings{Chitta2020WACV, 
	author = {Kashyap Chitta and Jose Alvarez and Martial Hebert}, 
	title = {Quadtree Generating Networks: Efficient Hierarchical Scene Parsing with Sparse Convolutions}, 
	booktitle = {Winter Conference on Applications of Computer Vision (WACV)}, 
	year = {2020}, 
}