Autonomous Driving on CARLA Offline Leaderboard LB-all v1
70Success RatePlanRL + Rule
Evaluation results
| Method | Links | |||||||||
|---|---|---|---|---|---|---|---|---|---|---|
| PlanRL + RuleKinematic feasibility check=true, Emergency brake rule=true2026.06 | 70 | 81 | 93 | 87 | 0 | 0.01 | 0.14 | 0.18 | 0.26 | |
| Roach + RuleEmergency brake rule=true2026.06 | 68 | 79 | 95 | 84 | 0 | 0 | 0.14 | 0.19 | 0.15 | |
| PlanRLKinematic feasibility check=true, Emergency brake rule=false2026.06 | 67 | 80 | 99 | 81 | 0 | 0 | 0.31 | 0.09 | 0.04 | |
| AutopilotEmergency brake rule=false2026.06 | 61 | 72 | 90 | 80 | 0 | 0 | 0.23 | 0.54 | 1.05 | |
| PlanRL w/o KFKinematic feasibility check=false, Emergency brake rule=false2026.06 | 61 | 79 | 96 | 83 | 0 | 0.01 | 0.34 | 0.04 | 0.21 | |
| RoachEmergency brake rule=false2026.06 | 59 | 75 | 96 | 78 | 0 | 0.04 | 0.31 | 0.12 | 0.12 | |
| CaRL⋆2026.06 | 39 | 58 | 73 | 80 | 0.22 | 0.01 | 0.27 | 0.33 | 1.44 |