Autonomous Driving on Bench2Drive (Comprehensive Maneuver Metrics)
62.5Merging ScoreTF++
Evaluation results
| Method | Links | ||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| TF++After Task=1(EmgBrake)2026.03 | 62.5 | 75.89 | 53.18 | 8.89 | 40 | 50 | 70 | 46.28 | — | — | — | — | — | — | — | — | |
| CaADRL-based policy refinement=true2026.05 | 60 | — | — | 86.67 | 83.33 | 50 | 71.34 | — | — | — | — | — | — | — | — | 70.27 | |
| DeLLAfter Task=3(Merge)2026.03 | 55 | 75.26 | 53.18 | 17.76 | 68.33 | 50 | 77.89 | 53.8 | — | — | — | — | — | — | — | — | |
| TF++After Task=3(Merge)2026.03 | 53.75 | 72.57 | 48.18 | 11.11 | 51.67 | 50 | 74.74 | 48.25 | — | — | — | — | — | — | — | — | |
| DeLLAfter Task=2(TSign)2026.03 | 52.5 | 77.24 | 55.91 | 15.56 | 80 | 50 | 82.11 | 56.03 | — | — | — | — | — | — | — | — | |
| HiP-ADRL-based policy refinement=false2026.05 | 50 | — | — | 84.44 | 83.33 | 40 | 72.1 | — | — | — | — | — | — | — | — | 65.98 | |
| DeLLAfter Task=1(EmgBrake)2026.03 | 43.75 | 79.88 | 56.82 | 20 | 90 | 50 | 79.47 | 56.64 | — | — | — | — | — | — | — | — | |
| TF++After Task=2(TSign)2026.03 | 42.5 | 74.31 | 52.27 | 15.56 | 83.33 | 50 | 78.42 | 53.69 | — | — | — | — | — | — | — | — | |
| DeLLAfter Task=4(Overtake)2026.03 | 42.5 | 72.09 | 45 | 40 | 41.67 | 50 | 65.26 | 47.89 | — | — | — | — | — | — | — | — | |
| Hydra-NeXtRL-based policy refinement=false2026.05 | 40 | — | — | 64.44 | 61.67 | 50 | 50 | — | — | — | — | — | — | — | — | 53.22 | |
| UniDriveVLA2026.04 | 38.75 | — | — | 80 | 50 | 30 | 58.95 | — | — | — | — | — | 51.53 | — | — | — | |
| TF++After Task=4(Overtake)2026.03 | 37.5 | 69.12 | 39.09 | 46.67 | 21.67 | 50 | 57.37 | 42.64 | — | — | — | — | — | — | — | — | |
| DeLLAfter Task=5(GiveWay)2026.03 | 36.25 | 68.97 | 42.73 | 22.22 | 51.67 | 50 | 70 | 46.03 | — | — | — | — | — | — | — | — | |
| DIVERRL-based policy refinement=true2026.05 | 35.08 | — | — | 25.09 | 41.09 | 50 | 59.21 | — | — | — | — | — | — | — | — | 42.09 | |
| TF++After Task=5(GiveWay)2026.03 | 35 | 60.89 | 30 | 8.89 | 26.67 | 50 | 55.79 | 35.27 | — | — | — | — | — | — | — | — | |
| DriveMOE2026.04 | 34.67 | — | — | 40 | 65.45 | 40 | 59.44 | — | — | — | — | — | 47.91 | — | — | — | |
| SNG-VLA2026.04 | 33.8 | — | — | 11.1 | 46.6 | 50 | 50 | 38.1 | — | — | — | — | — | — | — | — | |
| ReCogDrive2026.04 | 29.73 | — | — | 20 | 69.09 | 20 | 71.34 | — | — | — | — | — | 42.03 | — | — | — | |
| ReCogDriveRL-based policy refinement=true2026.05 | 29.73 | — | — | 20 | 69.09 | 20 | 71.34 | — | — | — | — | — | — | — | — | 42.03 | |
| DriveAdapterExpert feature distillation=true2026.04 | 28.8 | — | — | 26.4 | 48.8 | 50 | 56.4 | 42.1 | — | — | — | — | — | — | — | — | |
| ThinkTwiceExpert feature distillation=true2026.04 | 27.4 | — | — | 18.4 | 35.8 | 50 | 54.2 | 37.2 | — | — | — | — | — | — | — | — | |
| Orion2026.04 | 25 | — | — | 71.11 | 78.33 | 33 | 69.15 | — | — | — | — | — | 54.72 | — | — | — | |
| DriveTransformer2026.04 | 17.6 | — | — | 35 | 48.4 | 40 | 52.1 | 38.6 | — | — | — | — | — | — | — | — | |
| DriveTransformer2026.04 | 17.57 | — | — | 35 | 48.36 | 40 | 52.1 | — | — | — | — | — | 38.6 | — | — | — | |
| DriveTransformerRL-based policy refinement=false2026.05 | 17.57 | — | — | 35 | 48.36 | 40 | 52.1 | — | — | — | — | — | — | — | — | 38.6 | |
| TCPExpert feature distillation=true2026.04 | 16.12 | — | — | 20 | 20 | 10 | 7 | 14.6 | — | — | — | — | — | — | — | — | |
| DriveAdapter2026.04 | 14.55 | — | — | 22.61 | 54.04 | 50 | 50.45 | — | — | — | — | — | 38.33 | — | — | — | |
| FocalAD2025.06 | 14.11 | — | — | 24.81 | 20.31 | 20 | 23.42 | — | — | — | — | — | 20.53 | — | — | — | |
| UniAD2026.04 | 14.1 | — | — | 17.78 | 21.67 | 10 | 14.21 | — | — | — | — | — | 15.55 | — | — | — | |
| UniAD-Base2026.04 | 14.1 | — | — | 17.8 | 21.7 | 10 | 14.2 | 15.6 | — | — | — | — | — | — | — | — | |
| UniAD-Base2025.06 | 14.1 | — | — | 17.78 | 21.67 | 10 | 14.21 | — | — | — | — | — | 15.55 | — | — | — | |
| UniADRL-based policy refinement=false2026.05 | 14.1 | — | — | 17.78 | 21.67 | 10 | 14.21 | — | — | — | — | — | — | — | — | 15.55 | |
| ThinkTwice2026.04 | 13.72 | — | — | 22.93 | 52.99 | 50 | 47.78 | — | — | — | — | — | 37.48 | — | — | — | |
| SparseDriveOfficial Checkpoint=reproduced2025.06 | 12.18 | — | — | 23.19 | 17.91 | 20 | 20.98 | — | — | — | — | — | 17.45 | — | — | — | |
| TCP-ctrlExpert feature distillation=true2026.04 | 10.3 | — | — | 4.4 | 10 | 10 | 6.5 | 8.2 | — | — | — | — | — | — | — | — | |
| UniAD-Tiny2026.04 | 8.9 | — | — | 9.3 | 20 | 20 | 15.4 | 14.7 | — | — | — | — | — | — | — | — | |
| TCP-trajExpert feature distillation=true2026.04 | 8.9 | — | — | 24.3 | 51.7 | 40 | 46.3 | 34.2 | — | — | — | — | — | — | — | — | |
| VAD2026.04 | 8.11 | — | — | 24.44 | 18.64 | 20 | 19.15 | — | — | — | — | — | 18.07 | — | — | — | |
| VAD2025.06 | 8.11 | — | — | 24.44 | 18.64 | 20 | 19.15 | — | — | — | — | — | 18.07 | — | — | — | |
| VADRL-based policy refinement=false2026.05 | 8.11 | — | — | 24.44 | 18.64 | 20 | 19.15 | — | — | — | — | — | — | — | — | 18.07 | |
| VAD2026.04 | 8.1 | — | — | 24.4 | 18.6 | 20 | 19.2 | 18.1 | — | — | — | — | — | — | — | — | |
| AD-MLP2026.04 | 0 | — | — | 0 | 0 | 0 | 4.35 | — | — | — | — | — | 0.87 | — | — | — | |
| AD-MLP2026.04 | 0 | — | — | 0 | 0 | 0 | 4.4 | 0.9 | — | — | — | — | — | — | — | — | |
| DeLLMetric Category=Lifelong Metrics2026.03 | — | — | — | — | — | — | — | — | 33.97 | 29.8 | 42.88 | 79.63 | 74.69 | 50.73 | 52.08 | — | |
| TF++Metric Category=Lifelong Metrics2026.03 | — | — | — | — | — | — | — | — | 44.5 | 40.25 | 41.11 | 52.83 | 70.55 | 44.54 | 45.23 | — |