# Autonomous Driving on CARLA 42 Routes v1 (internal evaluation)

Source: [Autonomous Driving on CARLA 42 Routes v1 (internal evaluation)](<https://www.sota2.com/research/sota/autonomous-driving-on-carla-42-routes-v1-internal-evaluation>)

Collection index: [llms.txt](<https://www.sota2.com/research/llms.txt>)

Data updated: 2026-02-26T06:02:29.921Z

Evaluation of autonomous driving performance using the CARLA 42 Routes v1 scenario, specifically for internal evaluation, reporting RC, IS, and DS metrics.

A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage.

| Scope | Recorded value |
| --- | --- |
| Task | Autonomous Driving |
| Dataset (including any stated split) | CARLA 42 Routes v1 (internal evaluation) |
| Metric | Route Completion (RC) |
| Unit | PERCENT |
| Direction | Higher is better |
| Results loaded | 9 of 9 |
| Coverage | All results currently returned for this benchmark |

Evaluation settings may differ between results. The original papers and recorded configurations are needed to establish comparability. A shared metric name alone does not establish an identical protocol.

## Metrics

- [Route Completion (RC)](<https://www.sota2.com/research/sota/autonomous-driving-on-carla-42-routes-v1-internal-evaluation.md?metric=Route%20Completion%20(RC)>): Higher is better; unit: PERCENT.

- [Interaction Score (IS)](<https://www.sota2.com/research/sota/autonomous-driving-on-carla-42-routes-v1-internal-evaluation.md?metric=Interaction%20Score%20(IS)>): Higher is better; unit: SCALAR.

- [Deviation Score (DS)](<https://www.sota2.com/research/sota/autonomous-driving-on-carla-42-routes-v1-internal-evaluation.md?metric=Deviation%20Score%20(DS)>): Lower is better; unit: SCALAR.

## Recorded results

| Method | Route Completion (RC) | Result date | Report paper |
| --- | --- | --- | --- |
| Expert | 86.05 | Not recorded | 68fa6aba1e209131cea2a14c |
| AIM-MT | 80.81 | Not recorded | 68fa6aba1e209131cea2a14c |
| AIM | 80.21 | Not recorded | 68fa6aba1e209131cea2a14c |
| NEAT | 79.17 | Not recorded | 68fa6aba1e209131cea2a14c |
| AIM-MT | 77.93 | Not recorded | 68fa6aba1e209131cea2a14c |
| AIM-VA | 75.4 | Not recorded | 68fa6aba1e209131cea2a14c |
| AIM | 70.04 | Not recorded | 68fa6aba1e209131cea2a14c |
| LBC | 61.35 | Not recorded | 68fa6aba1e209131cea2a14c |
| CILRS | 35.46 | Not recorded | 68fa6aba1e209131cea2a14c |

### Expert

Route Completion (RC): 86.05. Result ID: 699ad02e5698665ec45f1828.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6aba1e209131cea2a14c.md>)

Recorded evaluation configuration: {"Aux. Sup.":"N/A"}. This record does not assert independent reproduction.

### AIM-MT

Route Completion (RC): 80.81. Result ID: 699ad02e5698665ec45f1825.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6aba1e209131cea2a14c.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa69cf1e209131cea2447f.md>)

[Implementation](<https://github.com/autonomousvision/transfuser>)

Recorded evaluation configuration: {"Aux. Sup.":"Depth+2D Sem"}. This record does not assert independent reproduction.

### AIM

Route Completion (RC): 80.21. Result ID: 699ad02e5698665ec45f1823.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6aba1e209131cea2a14c.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa69cf1e209131cea2447f.md>)

[Implementation](<https://github.com/autonomousvision/transfuser>)

Recorded evaluation configuration: {"Aux. Sup.":"2D Sem"}. This record does not assert independent reproduction.

### NEAT

Route Completion (RC): 79.17. Result ID: 699ad02e5698665ec45f1827.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6aba1e209131cea2a14c.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6aba1e209131cea2a14c.md>)

[Implementation](<https://github.com/autonomousvision/neat>)

Recorded evaluation configuration: {"Aux. Sup.":"BEV Sem"}. This record does not assert independent reproduction.

### AIM-MT

Route Completion (RC): 77.93. Result ID: 699ad02e5698665ec45f1824.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6aba1e209131cea2a14c.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa69cf1e209131cea2447f.md>)

[Implementation](<https://github.com/autonomousvision/transfuser>)

Recorded evaluation configuration: {"Aux. Sup.":"BEV Sem"}. This record does not assert independent reproduction.

### AIM-VA

Route Completion (RC): 75.4. Result ID: 699ad02e5698665ec45f1826.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6aba1e209131cea2a14c.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6ab81e209131cea2a05c.md>)

Recorded evaluation configuration: {"Aux. Sup.":"2D Sem"}. This record does not assert independent reproduction.

### AIM

Route Completion (RC): 70.04. Result ID: 699ad02e5698665ec45f1822.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6aba1e209131cea2a14c.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa69cf1e209131cea2447f.md>)

[Implementation](<https://github.com/autonomousvision/transfuser>)

Recorded evaluation configuration: {"Aux. Sup.":"None"}. This record does not assert independent reproduction.

### LBC

Route Completion (RC): 61.35. Result ID: 699ad02e5698665ec45f1821.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6aba1e209131cea2a14c.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa66e51e209131cea12f1e.md>)

[Implementation](<https://github.com/dianchen96/LearningByCheating>)

Recorded evaluation configuration: {"Aux. Sup.":"BEV Sem"}. This record does not assert independent reproduction.

### CILRS

Route Completion (RC): 35.46. Result ID: 699ad02e5698665ec45f1820.

[Reporting paper](<https://www.sota2.com/research/paper/68fa6aba1e209131cea2a14c.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa65a11e209131cea0b693.md>)

Recorded evaluation configuration: {"Aux. Sup.":"Velocity"}. This record does not assert independent reproduction.

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