CARLA
Benchmarks
Task NameDataset NameSOTA ResultTrendResults
CARLA HB scenario
123Episode Reward
7
CARLA JW scenario
201Episode Reward
7
CARLA Town 03 Normal
90Route Completion
7
CARLA Town 01 Normal
92Route Completion
7
CARLA Longest6 2.0
81Driving Safety Score
7
CARLA
92Route Completion
7
CARLA Towns LAV (val)
94DS Score
7
Carla (full dataset)
6.3FID
7
CARLA Online Leaderboard v1 (online evaluation)
22.8Driving Score (DS)
7
CARLA AEB
390.7Reward
6
CARLA AEB (test)
100SR
6
CARLA 0.9.10.1 (Leaderboard)
0.787Infraction Score
6
CARLA Town 5
67Route Completion
6
CARLA Town 4
85Route Completion
6
CARLA 2,000 scenarios (test)
0.104RMSE CTE (m)
6
CARLA (synthetic)
1.57Avg Loc Error (m)
6
CARLA Scenario B (test)
-15Error Rate (ER)
6
CARLA Scenario A (test)
-10ER
6
CARLA Map 2 (Unseen Target)
2,512.9Cumulative Reward
6
CARLA Map 2 (Seen Target)
2,422.5Sum of Rewards
6
CARLA Map 2 (Source)
2,279.6Cumulative Reward
6
CARLA Map 1 (Unseen Target)
1,933.4Cumulative Reward
6
CARLA Map 1 (Seen Target)
1,738Sum of Rewards
6
CARLA Map 1 (Source)
2,280.5Cumulative Reward
6
CARLA Town05 Short (val)
89.7Driving Score
6