# Autonomous Driving on CARLA Town13 2.0 (train)

Source: [Autonomous Driving on CARLA Town13 2.0 (train)](<https://www.sota2.com/research/sota/autonomous-driving-on-carla-town13-2-0-train>)

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

Data updated: 2026-02-26T06:02:29.900Z

Evaluation of autonomous driving performance on the CARLA Town13 map, version 2.0, using the training split, reporting metrics including Route Completion (RC), Driving Score (DS), and Normalized Driving Score (NDS).

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 Town13 2.0 (train) |
| Metric | Route Completion |
| Unit | SCALAR |
| Direction | Higher is better |
| Results loaded | 3 of 3 |
| 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](<https://www.sota2.com/research/sota/autonomous-driving-on-carla-town13-2-0-train.md?metric=Route%20Completion>): Higher is better; unit: SCALAR.

- [Score (IS)](<https://www.sota2.com/research/sota/autonomous-driving-on-carla-town13-2-0-train.md?metric=Score%20(IS)>): Higher is better; unit: SCALAR.

- [Driving Score](<https://www.sota2.com/research/sota/autonomous-driving-on-carla-town13-2-0-train.md?metric=Driving%20Score>): Higher is better; unit: SCALAR.

- [Infractions (I)](<https://www.sota2.com/research/sota/autonomous-driving-on-carla-town13-2-0-train.md?metric=Infractions%20(I)>): Lower is better; unit: SCALAR.

- [Normalized Driving Score](<https://www.sota2.com/research/sota/autonomous-driving-on-carla-town13-2-0-train.md?metric=Normalized%20Driving%20Score>): Higher is better; unit: SCALAR.

## Recorded results

| Method | Route Completion | Result date | Report paper |
| --- | --- | --- | --- |
| TFv6 | 71.82 | Not recorded | 694b739b53fdd5c361739bc7 |
| TFv5 | 68.53 | Not recorded | 694b739b53fdd5c361739bc7 |
| UniAD | 1.42 | Not recorded | 694b739b53fdd5c361739bc7 |

### TFv6

Route Completion: 71.82. Result ID: 699814585698665ec46e24ae.

[Reporting paper](<https://www.sota2.com/research/paper/694b739b53fdd5c361739bc7.md>)

[Method origin paper](<https://www.sota2.com/research/paper/694b739b53fdd5c361739bc7.md>)

Recorded evaluation configuration: {"training\_context":"Trained on all towns","Backbone":"RegNet","Modalities":"Radar + LiDAR"}. This record does not assert independent reproduction.

### TFv5

Route Completion: 68.53. Result ID: 699814585698665ec46e24ad.

[Reporting paper](<https://www.sota2.com/research/paper/694b739b53fdd5c361739bc7.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa76271e209131cea6b8b5.md>)

Recorded evaluation configuration: {"training\_context":"Trained on all towns"}. This record does not assert independent reproduction.

### UniAD

Route Completion: 1.42. Result ID: 699814585698665ec46e24ac.

[Reporting paper](<https://www.sota2.com/research/paper/694b739b53fdd5c361739bc7.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6ee71e209131cea42c46.md>)

[Implementation](<https://github.com/OpenDriveLab/UniAD>)

Recorded evaluation configuration: {"training\_context":"Trained on all towns"}. This record does not assert independent reproduction.

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