Autonomous Driving on Bench2Drive base set closed-loop
88.3Driving Score (DS)MAPLE
Evaluation results
| Method | Links | ||||
|---|---|---|---|---|---|
| MAPLECondition=Navigation Command, Geometric path waypoint supervision=true2026.05 | 88.3 | 70.5 | 210.3 | 39 | |
| DiffRefinerCondition=Navigation Command2026.05 | 87.1 | 71.4 | — | — | |
| HiP-ADCondition=Navigation Command, Geometric path waypoint supervision=true2026.05 | 86.8 | 69.1 | 203.1 | 19.4 | |
| MAPLECondition=Navigation Command2026.05 | 85.2 | 67.1 | 184.3 | 37.9 | |
| SimLingoCondition=Target Point, Geometric path waypoint supervision=true2026.05 | 85.1 | 67.3 | 259.2 | 33.7 | |
| GeRoCondition=Navigation Command2026.05 | 81.9 | 60.1 | 176.5 | 40.2 | |
| ORIONCondition=Navigation Command2026.05 | 77.7 | 54.6 | 151.5 | 17.4 | |
| ReCogDriveCondition=Navigation Command2026.05 | 71.4 | 45.5 | 138.2 | 17.5 | |
| DriveAdapterCondition=Target Point2026.05 | 64.2 | 33.1 | 70.2 | 16 | |
| Qwen2.5Condition=Navigation Command2026.05 | 63.9 | 31.6 | 119.3 | 10.1 | |
| DriveTransformer-LargeCondition=Navigation Command2026.05 | 63.5 | 35 | 100.6 | 20.8 | |
| ThinkTwiceCondition=Target Point2026.05 | 62.4 | 31.2 | 69.3 | 16.2 | |
| TCP-trajCondition=Target Point2026.05 | 59.9 | 30 | 76.5 | 18.1 | |
| TCP-traj w/o distillationCondition=Target Point2026.05 | 49.3 | 20.5 | 78.8 | 22.9 | |
| UniAD-BaseCondition=Navigation Command2026.05 | 45.8 | 16.4 | 129.2 | 43.6 | |
| MomADCondition=Navigation Command2026.05 | 44.5 | 16.7 | 170.2 | 48.6 | |
| VADCondition=Navigation Command2026.05 | 42.4 | 15 | 157.9 | 46 | |
| UniDrive-WM (AR)Condition=Navigation Command (NC), Modality=Camera2026.01 | 0.7922 | 0.5636 | 1.5844 | 0.2801 | |
| ORIONCondition=Navigation Command (NC), Modality=Camera2026.01 | 0.7774 | 0.5462 | 1.5148 | 0.1738 | |
| DriveAdapterCondition=Target Point (TP), Modality=Camera & LiDAR, Expert Feature Distillation=true2026.01 | 0.6422 | 0.3308 | 0.7022 | 0.1601 | |
| DriveTransformer-LargeCondition=Navigation Command (NC), Modality=Camera2026.01 | 0.6346 | 0.3501 | 1.0064 | 0.2078 | |
| ThinkTwiceCondition=Target Point (TP), Modality=Camera, Expert Feature Distillation=true2026.01 | 0.6244 | 0.3123 | 0.6933 | 0.1622 | |
| TCP-trajCondition=Target Point (TP), Modality=Camera, Expert Feature Distillation=true2026.01 | 0.599 | 0.3 | 0.7654 | 0.1808 | |
| TCP-trajCondition=Target Point (TP), Modality=Camera, Expert Feature Distillation=false2026.01 | 0.493 | 0.2045 | 0.7878 | 0.2296 | |
| UniAD-BaseCondition=Navigation Command (NC), Modality=Camera2026.01 | 0.4581 | 0.1636 | 1.2921 | 0.4358 | |
| GenADCondition=Navigation Command (NC), Modality=Camera2026.01 | 0.4481 | 0.159 | — | — | |
| MomADCondition=Navigation Command (NC), Modality=Camera2026.01 | 0.4454 | 0.1671 | 1.7021 | 0.4863 | |
| VADCondition=Navigation Command (NC), Modality=Camera2026.01 | 0.4235 | 0.15 | 1.5794 | 0.4601 | |
| UniAD-TinyCondition=Navigation Command (NC), Modality=Camera2026.01 | 0.4073 | 0.1318 | 1.2392 | 0.4704 | |
| TCPCondition=Target Point (TP), Modality=Camera, Expert Feature Distillation=true2026.01 | 0.407 | 0.15 | 0.5426 | 0.478 | |
| TCP-ctrlCondition=Target Point (TP), Modality=Camera, Expert Feature Distillation=true2026.01 | 0.3047 | 0.0727 | 0.5597 | 0.5151 | |
| AD-MLPCondition=Navigation Command (NC), Modality=Camera2026.01 | 0.1805 | 0 | 0.4845 | 0.2263 |