A R T I C L E I N F O

A B S T R A C T

1. Introduction

2. Modular system architecture

3. End-to-End system architecture

4. Input modalities in End-to-End system

5. Output modalities in End-to-End system

6. Learning approaches for End-to-End system

7. Learning domain adaptation from simulator to real

8. Safety

9. Explainability

10. Evaluation

11. Datasets and simulator

12. Future research directions

13. Conclusion