Autonomous Driving on Bench2Drive base subset (50 clips for open-loop)
0.38Avg L2 ErrorDriveMoE
Evaluation Results
| Method | Links | |
|---|---|---|
| DriveMoEScheme=IL, Modality=C2026.05 | 0.38 | |
| Driveπ0Scheme=IL, Modality=C2026.05 | 0.56 | |
| Drive TransformerLatency=212 ms, expert_feature_distillation=false2025.05 | 0.62 | |
| DriveTransformer-LargeScheme=IL, Modality=C2026.05 | 0.62 | |
| UniDrive-WM-AR+DiffScheme=IL, Modality=C2026.05 | 0.63 | |
| LVDriveScheme=IL, Modality=C2026.05 | 0.63 | |
| UniDrive-WM-ARScheme=IL, Modality=C2026.05 | 0.64 | |
| ORIONScheme=IL, Modality=C2026.05 | 0.68 | |
| UniAD-BaseLatency=558 ms, expert_feature_distillation=false2025.05 | 0.73 | |
| UniAD-BaseScheme=IL, Modality=C2026.05 | 0.73 | |
| UniAD-TinyLatency=445 ms, expert_feature_distillation=false2025.05 | 0.8 | |
| MomADScheme=IL, Modality=C2026.05 | 0.87 | |
| VADLatency=359 ms, expert_feature_distillation=false2025.05 | 0.91 | |
| VADScheme=IL, Modality=C2026.05 | 0.91 | |
| ThinkTwiceLatency=762 ms, expert_feature_distillation=true2025.05 | 0.95 | |
| ThinkTwice*Scheme=IL, Modality=C2026.05 | 0.95 | |
| iPadLatency=43 ms, expert_feature_distillation=false2025.05 | 0.97 | |
| DriveAdapterLatency=931 ms, expert_feature_distillation=true2025.05 | 1.01 | |
| DriveAdapter*Scheme=IL, Modality=C&L2026.05 | 1.01 | |
| DiffADScheme=IL, Modality=C2026.05 | 1.55 | |
| TCPLatency=71 ms, expert_feature_distillation=true2025.05 | 1.7 | |
| TCP-trajLatency=71 ms, expert_feature_distillation=true2025.05 | 1.7 | |
| TCP*Scheme=IL, Modality=C2026.05 | 1.7 | |
| TCP-traj*Scheme=IL, Modality=C2026.05 | 1.7 | |
| TCP-trajLatency=71 ms, expert_feature_distillation=false, mode=w/o distillation2025.05 | 1.96 | |
| AD-MLPLatency=4 ms, expert_feature_distillation=false2025.05 | 3.64 |