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ResearchFormerly WizWand

Autonomous Driving on Bench2Drive 220 routes across CARLA towns

161.31EfficiencyiPad
40.233271.6666103.1134.5334May 21, 2025May 22, 2025May 23, 2025May 24, 2025May 25, 2025May 26, 2025May 28, 2025
Updated 8mo ago

Evaluation results

MethodLinks
iPadLatency=43 ms, expert_feature_distillation=false2025.05161.3128.2135.9165.02
VADLatency=359 ms, expert_feature_distillation=false2025.05157.9446.011542.35
UniAD-BaseLatency=558 ms, expert_feature_distillation=false2025.05129.2143.5816.3645.81
UniAD-TinyLatency=445 ms, expert_feature_distillation=false2025.05123.9247.0413.1840.73
VAD + SERAInput=Ego State + 6 Cameras, Framework=SERA-enhanced2025.05109.244.79.8935.64
VADInput=Ego State + 6 Cameras2025.0510543.28.5134.21
UniAD + SERAInput=Ego State + 6 Cameras, Framework=SERA-enhanced2025.05102.3443.59.5835.1
Drive TransformerLatency=212 ms, expert_feature_distillation=false2025.05100.6420.7835.0163.46
UniADInput=Ego State + 6 Cameras2025.0598.5428.1233.64
TCP + SERAInput=Ego State + Front Cameras, Framework=SERA-enhanced2025.0579.5119.523.9233.03
TCP-trajLatency=71 ms, expert_feature_distillation=false, mode=w/o distillation2025.0578.7822.9620.4549.3
TCP-trajLatency=71 ms, expert_feature_distillation=true2025.0576.5418.083059.9
TCPInput=Ego State + Front Cameras2025.0576.51822.3431.78
DriveAdapterLatency=931 ms, expert_feature_distillation=true2025.0570.2216.0133.0864.22
ThinkTwiceLatency=762 ms, expert_feature_distillation=true2025.0569.3316.2231.2362.44
TCP-ctrlLatency=71 ms, expert_feature_distillation=true2025.0555.9751.517.2730.47
TCPLatency=71 ms, expert_feature_distillation=true2025.0554.2647.81540.7
AD-MLP + SERAInput=Ego State, Framework=SERA-enhanced2025.0550.6630.0308.28
AD-MLPLatency=4 ms, expert_feature_distillation=false2025.0548.4522.63018.05
AD-MLPInput=Ego State2025.0544.8926.3607.83