Paper Citation Record · LEDGER

LHPF: Look back the History and Plan for the Future in Autonomous Driving

As of 21 August 2026, this Paper Citation Record lists 37 of 37 outbound references and 1 inbound Pith citation observation for arXiv:2411.17253.

A citation records a reference. It does not transfer a finding from one paper to another.

pith.paper-citation-record.v1
2411.17253 v1

Coverage vector

measured 37 of 37 reference resolution

Typed states for the displayed outbound observations.

Source: paper_references, paper_reference_links, observed 2026-08-12T12:27:25.358443Z

measured 38 of 38 standing notices

One-hop event checks from named stored sources.

Source: scholarly_work_events, retraction_status_cache, observed 2026-08-20T06:33:59.587034+00:00

measured 1 of 1 inbound itemization

Pith citing papers itemized under the disclosed page cap.

Source: paper_references, paper_reference_links, observed 2026-08-15T17:50:21.239179Z

measured 0 of 1 external citation measurements

A source-named dated measurement, never combined with another source.

Source: pith, observed 2026-08-15T17:50:21.580909Z

Reference resolution

37 of 37 outbound references displayed

verified exact0
verified fuzzy30
unresolved7
parse uncertain0
malformed identifier0
metadata mismatch0

External citation measurements

No source-named external measurement is stored.

Outbound references

Observation e7523240-6d17-481c-afee-85602cc3ceb7 · outbound

This paper cites Commonroad: Composable benchmarks for motion plan- ning on roads.

LHPF: Look back the History and Plan for the Future in Autonomous Driving Commonroad: Composable benchmarks for motion plan- ning on roads

Reference 1

Resolution: verified fuzzy; raw_fallback, observed 2026-08-12T12:27:25.776800Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation f681ea2a-b19a-4b53-99c2-600db8c95811 · outbound

This paper cites Chauf- feurnet: Learning to drive by imitating the best and synthe- sizing the worst, 2018.

LHPF: Look back the History and Plan for the Future in Autonomous Driving Chauf- feurnet: Learning to drive by imitating the best and synthe- sizing the worst, 2018

Reference 2

Resolution: verified fuzzy; raw_fallback, observed 2026-08-12T12:27:25.765468Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation e5d37e43-87f8-4d8a-ba5e-16ad29851f80 · outbound

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

LHPF: Look back the History and Plan for the Future in Autonomous Driving NuPlan: A closed-loop ML-based planning benchmark for autonomous vehicles

Reference 3

Resolution: unresolved; no resolver link, observed 2026-08-12T12:27:25.227697Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation e099f3c6-4bea-4f68-8e0a-40f5d5bd475f · outbound

This paper cites Learning from all vehi- cles.

LHPF: Look back the History and Plan for the Future in Autonomous Driving Learning from all vehi- cles

Reference 4

Resolution: verified fuzzy; raw_fallback, observed 2026-08-12T12:27:25.754188Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 04340e5a-a16d-4cfb-97e1-2fad78dfad9b · outbound

This paper cites Learning by cheating.

LHPF: Look back the History and Plan for the Future in Autonomous Driving Learning by cheating

Reference 5

Resolution: verified fuzzy; raw_fallback, observed 2026-08-12T12:27:25.743220Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 8f35d1be-5932-48a5-83bb-92e56cac4a27 · outbound

This paper cites Ir-stp: Enhancing autonomous driving with interaction reasoning in spatio- temporal planning.

LHPF: Look back the History and Plan for the Future in Autonomous Driving Ir-stp: Enhancing autonomous driving with interaction reasoning in spatio- temporal planning

Reference 6

Resolution: verified fuzzy; raw_fallback, observed 2026-08-12T12:27:25.732297Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 252f67ca-8a3c-4e6b-a9f1-cf70831b9c5b · outbound

This paper cites Mpnp: Multi-policy neural planner for urban driving.

LHPF: Look back the History and Plan for the Future in Autonomous Driving Mpnp: Multi-policy neural planner for urban driving

Reference 7

Resolution: verified fuzzy; raw_fallback, observed 2026-08-12T12:27:25.720605Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 9ae6303b-efce-4ee9-ba4b-c16823cdf60b · outbound

This paper cites Rethinking imitation-based planner for autonomous driving, 2023.

LHPF: Look back the History and Plan for the Future in Autonomous Driving Rethinking imitation-based planner for autonomous driving, 2023

Reference 8

Resolution: verified fuzzy; raw_fallback, observed 2026-08-12T12:27:25.709466Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation ca33da26-3313-45ac-bdf8-08819a83cd87 · outbound

This paper cites PLUTO: Pushing the Limit of Imitation Learning-based Planning for Autonomous Driving.

LHPF: Look back the History and Plan for the Future in Autonomous Driving PLUTO: Pushing the Limit of Imitation Learning-based Planning for Autonomous Driving

Reference 9

Resolution: unresolved; no resolver link, observed 2026-08-12T12:27:25.251845Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 75b85ede-97cc-448a-925e-0d4ce81a52db · outbound

This paper cites Neat: Neural attention fields for end-to-end autonomous driving.

LHPF: Look back the History and Plan for the Future in Autonomous Driving Neat: Neural attention fields for end-to-end autonomous driving

Reference 10

Resolution: verified fuzzy; raw_fallback, observed 2026-08-12T12:27:25.698220Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 2eca3728-566e-4c2d-8b62-4c42c919cb06 · outbound

This paper cites Transfuser: Imitation with transformer-based sensor fusion for autonomous driv- ing.

LHPF: Look back the History and Plan for the Future in Autonomous Driving Transfuser: Imitation with transformer-based sensor fusion for autonomous driv- ing

Reference 11

Resolution: verified fuzzy; raw_fallback, observed 2026-08-12T12:27:25.685814Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 3748a5cf-a9f9-460f-9f8b-e901b4904aaf · outbound

This paper cites Exploring the limitations of behavior cloning for autonomous driving.

LHPF: Look back the History and Plan for the Future in Autonomous Driving Exploring the limitations of behavior cloning for autonomous driving

Reference 12

Resolution: verified fuzzy; raw_fallback, observed 2026-08-12T12:27:25.673974Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 1d33cda5-e8f4-498d-b730-4f5f243d3740 · outbound

This paper cites Multimodal trajectory predictions for autonomous driving using deep convolutional networks.

LHPF: Look back the History and Plan for the Future in Autonomous Driving Multimodal trajectory predictions for autonomous driving using deep convolutional networks

Reference 13

Resolution: unresolved; no resolver link, observed 2026-08-12T12:27:25.266328Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation 57a4f28a-9aa3-4470-917a-916d422749ff · outbound

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

LHPF: Look back the History and Plan for the Future in Autonomous Driving Parting with misconceptions about learning- based vehicle motion planning

Reference 14

Resolution: verified fuzzy; raw_fallback, observed 2026-08-12T12:27:25.656451Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 5af553b4-8d97-4cbf-a1be-d1396a6b9914 · outbound

This paper cites Multimodal trajectory prediction conditioned on lane-graph traversals.

LHPF: Look back the History and Plan for the Future in Autonomous Driving Multimodal trajectory prediction conditioned on lane-graph traversals

Reference 15

Resolution: verified fuzzy; raw_fallback, observed 2026-08-12T12:27:25.645644Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation bdd6a94a-0e8c-4304-87eb-5117d4c98a3d · outbound

This paper cites Densetnt: End-to-end trajectory prediction from dense goal sets.

LHPF: Look back the History and Plan for the Future in Autonomous Driving Densetnt: End-to-end trajectory prediction from dense goal sets

Reference 16

Resolution: verified fuzzy; raw_fallback, observed 2026-08-12T12:27:25.633025Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 3c1e2ad3-275d-43b7-898c-623090e12d33 · outbound

This paper cites From prediction to planning with goal conditioned lane graph traversals.

LHPF: Look back the History and Plan for the Future in Autonomous Driving From prediction to planning with goal conditioned lane graph traversals

Reference 17

Resolution: verified fuzzy; raw_fallback, observed 2026-08-12T12:27:25.621291Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 35481d01-a969-4452-b0f0-e41c16cad556 · outbound

This paper cites Multi-modal motion prediction using temporal ensembling with learning-based aggregation, 2024.

LHPF: Look back the History and Plan for the Future in Autonomous Driving Multi-modal motion prediction using temporal ensembling with learning-based aggregation, 2024

Reference 18

Resolution: verified fuzzy; raw_fallback, observed 2026-08-12T12:27:25.609807Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 27456d36-9817-4f9a-826e-a5319fd98f22 · outbound

This paper cites St-p3: End-to-end vision-based au- tonomous driving via spatial-temporal feature learning.

LHPF: Look back the History and Plan for the Future in Autonomous Driving St-p3: End-to-end vision-based au- tonomous driving via spatial-temporal feature learning

Reference 19

Resolution: unresolved; no resolver link, observed 2026-08-12T12:27:25.285716Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation d2e4e565-ef60-452e-8a96-3882dc7dc01e · outbound

This paper cites Planning-oriented autonomous driving.

LHPF: Look back the History and Plan for the Future in Autonomous Driving Planning-oriented autonomous driving

Reference 20

Resolution: unresolved; no resolver link, observed 2026-08-12T12:27:25.289214Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation fb615370-f9e5-4db7-87ac-5d37ae69e780 · outbound

This paper cites Multi-modal mo- tion prediction with transformer-based neural network for autonomous driving.

LHPF: Look back the History and Plan for the Future in Autonomous Driving Multi-modal mo- tion prediction with transformer-based neural network for autonomous driving

Reference 21

Resolution: verified fuzzy; raw_fallback, observed 2026-08-12T12:27:25.585287Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 7b16c4a7-c80c-45da-8cc4-e679f136d26f · outbound

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

LHPF: Look back the History and Plan for the Future in Autonomous Driving Gameformer: Game-theoretic modeling and learning of transformer-based interactive prediction and planning for autonomous driving

Reference 22

Resolution: verified fuzzy; raw_fallback, observed 2026-08-12T12:27:25.573833Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 9a697e65-0cb5-4417-96d5-fc6777b6521c · outbound

This paper cites Dtpp: Differentiable joint con- ditional prediction and cost evaluation for tree policy plan- ning in autonomous driving, 2024.

LHPF: Look back the History and Plan for the Future in Autonomous Driving Dtpp: Differentiable joint con- ditional prediction and cost evaluation for tree policy plan- ning in autonomous driving, 2024

Reference 23

Resolution: verified fuzzy; raw_fallback, observed 2026-08-12T12:27:25.563327Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation c066c049-8c90-45c2-bed2-b488ad12910d · outbound

This paper cites Vad: Vectorized scene representa- tion for efficient autonomous driving.

LHPF: Look back the History and Plan for the Future in Autonomous Driving Vad: Vectorized scene representa- tion for efficient autonomous driving

Reference 24

Resolution: verified fuzzy; raw_fallback, observed 2026-08-12T12:27:25.552981Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 941952d5-00a9-44f8-829a-a34f333982a2 · outbound

This paper cites Lapred: Lane-aware prediction of multi- modal future trajectories of dynamic agents.

LHPF: Look back the History and Plan for the Future in Autonomous Driving Lapred: Lane-aware prediction of multi- modal future trajectories of dynamic agents

Reference 25

Resolution: verified fuzzy; raw_fallback, observed 2026-08-12T12:27:25.541395Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 05b5484f-9309-4990-8a73-0c825e68683b · outbound

This paper cites Urban driver: Learning to drive from real-world demonstrations using policy gradients.

LHPF: Look back the History and Plan for the Future in Autonomous Driving Urban driver: Learning to drive from real-world demonstrations using policy gradients

Reference 27

Resolution: verified fuzzy; raw_fallback, observed 2026-08-12T12:27:25.530310Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 7ec09932-3e4a-49a6-8664-9f7cde7b6fd9 · outbound

This paper cites Safety-enhanced autonomous driving using inter- pretable sensor fusion transformer.

LHPF: Look back the History and Plan for the Future in Autonomous Driving Safety-enhanced autonomous driving using inter- pretable sensor fusion transformer

Reference 28

Resolution: verified fuzzy; raw_fallback, observed 2026-08-12T12:27:25.518736Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 54894d91-b57a-46a1-9c6d-12d34e4ea65d · outbound

This paper cites Hpnet: Dynamic trajectory fore- casting with historical prediction attention, 2024.

LHPF: Look back the History and Plan for the Future in Autonomous Driving Hpnet: Dynamic trajectory fore- casting with historical prediction attention, 2024

Reference 29

Resolution: verified fuzzy; raw_fallback, observed 2026-08-12T12:27:25.506923Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 99a42ed0-70de-4ba0-8607-60e7d06b196e · outbound

This paper cites Con- gested traffic states in empirical observations and micro- scopic simulations.

LHPF: Look back the History and Plan for the Future in Autonomous Driving Con- gested traffic states in empirical observations and micro- scopic simulations

Reference 30

Resolution: verified fuzzy; raw_fallback, observed 2026-08-12T12:27:25.495215Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation f31010c3-8507-4774-80a5-ac90384a73c2 · outbound

This paper cites Safetynet: Safe planning for real-world self-driving vehicles using machine-learned policies.

LHPF: Look back the History and Plan for the Future in Autonomous Driving Safetynet: Safe planning for real-world self-driving vehicles using machine-learned policies

Reference 31

Resolution: verified fuzzy; raw_fallback, observed 2026-08-12T12:27:25.484322Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 7260f3e2-d911-4064-8450-7e5c339f533f · outbound

This paper cites Improving au- tonomous driving safety with pop: A framework for accurate partially observed trajectory predictions.

LHPF: Look back the History and Plan for the Future in Autonomous Driving Improving au- tonomous driving safety with pop: A framework for accurate partially observed trajectory predictions

Reference 32

Resolution: verified fuzzy; raw_fallback, observed 2026-08-12T12:27:25.473193Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation f6185719-cb17-424c-9025-961f9ca80707 · outbound

This paper cites Bootstrap Motion Forecasting With Self-Consistent Constraints.

LHPF: Look back the History and Plan for the Future in Autonomous Driving Bootstrap Motion Forecasting With Self-Consistent Constraints

Reference 33

Resolution: unresolved; no resolver link, observed 2026-08-12T12:27:25.338801Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation caf64435-9e49-4e04-9ed7-c3c4f3834c55 · outbound

This paper cites Tnt: Target-driven trajectory pre- diction.

LHPF: Look back the History and Plan for the Future in Autonomous Driving Tnt: Target-driven trajectory pre- diction

Reference 34

Resolution: verified fuzzy; raw_fallback, observed 2026-08-12T12:27:25.462421Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 83dbaacb-fca2-4e1a-8510-7c64ead94b7b · outbound

This paper cites Query-centric trajectory prediction.

LHPF: Look back the History and Plan for the Future in Autonomous Driving Query-centric trajectory prediction

Reference 35

Resolution: unresolved; no resolver link, observed 2026-08-12T12:27:25.346905Z

Source-reported events for the cited work

Unavailable: canonical work link unavailable.

Observation a1cc99aa-a1d2-4c0c-ab50-5fa4f7d970ec · outbound

This paper cites Experiments on NuPlan a.

LHPF: Look back the History and Plan for the Future in Autonomous Driving Experiments on NuPlan a

Reference 36

Resolution: verified fuzzy; raw_fallback, observed 2026-08-12T12:27:25.445157Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation 5e50776f-2c99-4c63-995f-3cc28da62a7d · outbound

This paper cites Feature extraction targets map elements and agents within a 120- meter radius, adhering to the NuPlan challenge specifica- tions.

LHPF: Look back the History and Plan for the Future in Autonomous Driving Feature extraction targets map elements and agents within a 120- meter radius, adhering to the NuPlan challenge specifica- tions

Reference 37

Resolution: verified fuzzy; raw_fallback, observed 2026-08-12T12:27:25.433779Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Observation cf51902b-2627-4221-a8cb-ffb87c6df415 · outbound

This paper cites The ego plan is shown in yellow and pink, while agent predictions are depicted in green and blue.

LHPF: Look back the History and Plan for the Future in Autonomous Driving The ego plan is shown in yellow and pink, while agent predictions are depicted in green and blue

Reference 38

Resolution: verified fuzzy; raw_fallback, observed 2026-08-12T12:27:25.422001Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.

Pith citing papers

Observation 26a31aeb-db8a-4d1e-b229-4aab2754f4f0 · inbound

VLMPlanner: Integrating Visual Language Models with Motion Planning cites this paper.

VLMPlanner: Integrating Visual Language Models with Motion Planning LHPF: Look back the History and Plan for the Future in Autonomous Driving

Reference 54

Resolution: verified exact; local_arxiv, observed 2026-08-15T17:50:21.587915Z

Source-reported events for the cited work

No event found in the named queried sources as of 2026-08-20T06:33:59.587034+00:00.