Autonomous Driving Navigation on CARLA Town 2 10 routes
17.47Average SpeedChatScene
Evaluation results
| Method | Links | ||||||||
|---|---|---|---|---|---|---|---|---|---|
| ChatSceneStage=Stage 1, Observation=GT-BEV, Action Space=Direct Action (Upper bound)2026.04 | 17.47 | 45 | 161.78 | 10.69 | 57 | 43 | — | — | |
| ChatSceneStage=Stage 2, Observation=GT-BEV, Action Space=PAM only2026.04 | 15.72 | 40 | 142.37 | 7.85 | 47 | 37 | 82.5 | 87.9 | |
| VLM-RLStage=Stage 3, Observation=GOB-BEV, Action Space=PAM + TPT (Full S2R)2026.04 | 15.45 | 42 | 102.45 | 8.85 | 27 | 17 | 67.5 | 74.2 | |
| ChatSceneStage=Stage 3, Observation=GOB-BEV, Action Space=PAM + TPT (Full S2R)2026.04 | 15.28 | 35 | 108.95 | 8.45 | 37 | 30 | 64.9 | 67.3 | |
| VLM-RLStage=Stage 1, Observation=GT-BEV, Action Space=Direct Action (Upper bound)2026.04 | 14.38 | 51 | 138.08 | 10.09 | 40 | 10 | — | — | |
| DriveVLM-RLStage=Stage 1, Observation=GT-BEV, Action Space=Direct Action (Upper bound)2026.04 | 14.13 | 45 | 174.69 | 0.29 | 60 | 17 | — | — | |
| DriveVLM-RLStage=Stage 3, Observation=GOB-BEV, Action Space=PAM + TPT (Full S2R)2026.04 | 13.42 | 36 | 131.25 | 0.38 | 43 | 27 | 71.7 | 75.1 | |
| VLM-RLStage=Stage 2, Observation=GT-BEV, Action Space=PAM only2026.04 | 12.94 | 48 | 130.15 | 9.52 | 37 | 10 | 92.5 | 94.3 | |
| DriveVLM-RLStage=Stage 2, Observation=GT-BEV, Action Space=PAM only2026.04 | 11.52 | 39 | 152.08 | 0.33 | 50 | 23 | 83.3 | 87.1 |