# Autonomous Driving on Driving in Occlusion Simulation (DOS) zero-shot

Source: [Autonomous Driving on Driving in Occlusion Simulation (DOS) zero-shot](<https://www.sota2.com/research/sota/autonomous-driving-on-driving-in-occlusion-simulation-dos-zero-shot>)

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

Data updated: 2026-02-26T05:40:21.401Z

Evaluation of Autonomous Driving performance on the Driving in Occlusion Simulation (DOS) dataset under zero-shot conditions, reporting DS scores across various occlusion levels.

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) | Driving in Occlusion Simulation (DOS) zero-shot |
| Metric | DS Score (DOS\_01) |
| Unit | PERCENT |
| Direction | Higher is better |
| Results loaded | 6 of 6 |
| 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

- [DS Score (DOS\_01)](<https://www.sota2.com/research/sota/autonomous-driving-on-driving-in-occlusion-simulation-dos-zero-shot.md?metric=DS%20Score%20(DOS_01)>): Higher is better; unit: PERCENT.

- [DS Score (DOS\_02)](<https://www.sota2.com/research/sota/autonomous-driving-on-driving-in-occlusion-simulation-dos-zero-shot.md?metric=DS%20Score%20(DOS_02)>): Higher is better; unit: PERCENT.

- [DS Score (DOS\_03)](<https://www.sota2.com/research/sota/autonomous-driving-on-driving-in-occlusion-simulation-dos-zero-shot.md?metric=DS%20Score%20(DOS_03)>): Higher is better; unit: PERCENT.

- [DS Score (DOS\_04)](<https://www.sota2.com/research/sota/autonomous-driving-on-driving-in-occlusion-simulation-dos-zero-shot.md?metric=DS%20Score%20(DOS_04)>): Higher is better; unit: PERCENT.

- [Average DS Score (Zero-Shot)](<https://www.sota2.com/research/sota/autonomous-driving-on-driving-in-occlusion-simulation-dos-zero-shot.md?metric=Average%20DS%20Score%20(Zero-Shot)>): Higher is better; unit: PERCENT.

## Recorded results

| Method | DS Score (DOS\_01) | Result date | Report paper |
| --- | --- | --- | --- |
| TakeAD | 0.7154 | Not recorded | 6948d05e423ea42265729da5 |
| UniAD | 0.66 | Not recorded | 6948d05e423ea42265729da5 |
| TakeAD w.o. post | 0.6572 | Not recorded | 6948d05e423ea42265729da5 |
| LMDrive | 0.64 | Not recorded | 6948d05e423ea42265729da5 |
| VAD | 0.5846 | Not recorded | 6948d05e423ea42265729da5 |
| MomAD | 0.539 | Not recorded | 6948d05e423ea42265729da5 |

### TakeAD

DS Score (DOS\_01): 0.7154. Result ID: 6999e9155698665ec4696be9.

[Reporting paper](<https://www.sota2.com/research/paper/6948d05e423ea42265729da5.md>)

[Method origin paper](<https://www.sota2.com/research/paper/6948d05e423ea42265729da5.md>)

Recorded evaluation configuration: {"Evaluation Mode":"Zero-shot","Simulation Mode":"Closed-loop","Post-optimization":"True"}. This record does not assert independent reproduction.

### UniAD

DS Score (DOS\_01): 0.66. Result ID: 6999e9155698665ec4696be4.

[Reporting paper](<https://www.sota2.com/research/paper/6948d05e423ea42265729da5.md>)

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

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

Recorded evaluation configuration: {"Evaluation Mode":"Zero-shot","Simulation Mode":"Closed-loop"}. This record does not assert independent reproduction.

### TakeAD w.o. post

DS Score (DOS\_01): 0.6572. Result ID: 6999e9155698665ec4696be8.

[Reporting paper](<https://www.sota2.com/research/paper/6948d05e423ea42265729da5.md>)

[Method origin paper](<https://www.sota2.com/research/paper/6948d05e423ea42265729da5.md>)

Recorded evaluation configuration: {"Evaluation Mode":"Zero-shot","Simulation Mode":"Closed-loop","Post-optimization":"False"}. This record does not assert independent reproduction.

### LMDrive

DS Score (DOS\_01): 0.64. Result ID: 6999e9155698665ec4696be7.

[Reporting paper](<https://www.sota2.com/research/paper/6948d05e423ea42265729da5.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa71861e209131cea51c6f.md>)

Recorded evaluation configuration: {"Evaluation Mode":"Zero-shot","Simulation Mode":"Closed-loop"}. This record does not assert independent reproduction.

### VAD

DS Score (DOS\_01): 0.5846. Result ID: 6999e9155698665ec4696be5.

[Reporting paper](<https://www.sota2.com/research/paper/6948d05e423ea42265729da5.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa70671e209131cea4af09.md>)

[Implementation](<https://github.com/hustvl/VAD>)

Recorded evaluation configuration: {"Evaluation Mode":"Zero-shot","Simulation Mode":"Closed-loop"}. This record does not assert independent reproduction.

### MomAD

DS Score (DOS\_01): 0.539. Result ID: 6999e9155698665ec4696be6.

[Reporting paper](<https://www.sota2.com/research/paper/6948d05e423ea42265729da5.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa78771e209131cea787e9.md>)

[Implementation](<https://github.com/adept-thu/MomAD>)

Recorded evaluation configuration: {"Evaluation Mode":"Zero-shot","Simulation Mode":"Closed-loop"}. This record does not assert independent reproduction.

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