Autonomous Driving on Bench2Drive 220 routes across CARLA towns
161.31EfficiencyiPad
Evaluation Results
| Method | Links | ||||
|---|---|---|---|---|---|
| iPadLatency=43 ms, expert_feature_distillation=false2025.05 | 161.31 | 28.21 | 35.91 | 65.02 | |
| VADLatency=359 ms, expert_feature_distillation=false2025.05 | 157.94 | 46.01 | 15 | 42.35 | |
| UniAD-BaseLatency=558 ms, expert_feature_distillation=false2025.05 | 129.21 | 43.58 | 16.36 | 45.81 | |
| UniAD-TinyLatency=445 ms, expert_feature_distillation=false2025.05 | 123.92 | 47.04 | 13.18 | 40.73 | |
| VAD + SERAInput=Ego State + 6 Cameras, Framework=SERA-enhanced2025.05 | 109.2 | 44.7 | 9.89 | 35.64 | |
| VADInput=Ego State + 6 Cameras2025.05 | 105 | 43.2 | 8.51 | 34.21 | |
| UniAD + SERAInput=Ego State + 6 Cameras, Framework=SERA-enhanced2025.05 | 102.34 | 43.5 | 9.58 | 35.1 | |
| Drive TransformerLatency=212 ms, expert_feature_distillation=false2025.05 | 100.64 | 20.78 | 35.01 | 63.46 | |
| UniADInput=Ego State + 6 Cameras2025.05 | 98.5 | 42 | 8.12 | 33.64 | |
| TCP + SERAInput=Ego State + Front Cameras, Framework=SERA-enhanced2025.05 | 79.51 | 19.5 | 23.92 | 33.03 | |
| TCP-trajLatency=71 ms, expert_feature_distillation=false, mode=w/o distillation2025.05 | 78.78 | 22.96 | 20.45 | 49.3 | |
| TCP-trajLatency=71 ms, expert_feature_distillation=true2025.05 | 76.54 | 18.08 | 30 | 59.9 | |
| TCPInput=Ego State + Front Cameras2025.05 | 76.5 | 18 | 22.34 | 31.78 | |
| DriveAdapterLatency=931 ms, expert_feature_distillation=true2025.05 | 70.22 | 16.01 | 33.08 | 64.22 | |
| ThinkTwiceLatency=762 ms, expert_feature_distillation=true2025.05 | 69.33 | 16.22 | 31.23 | 62.44 | |
| TCP-ctrlLatency=71 ms, expert_feature_distillation=true2025.05 | 55.97 | 51.51 | 7.27 | 30.47 | |
| TCPLatency=71 ms, expert_feature_distillation=true2025.05 | 54.26 | 47.8 | 15 | 40.7 | |
| AD-MLP + SERAInput=Ego State, Framework=SERA-enhanced2025.05 | 50.66 | 30.03 | 0 | 8.28 | |
| AD-MLPLatency=4 ms, expert_feature_distillation=false2025.05 | 48.45 | 22.63 | 0 | 18.05 | |
| AD-MLPInput=Ego State2025.05 | 44.89 | 26.36 | 0 | 7.83 |