Closed-loop Autonomous Driving on Bench2Drive
97.02Driving Score (DS)PDM-Lite
Evaluation results
| Method | Links | ||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|
| PDM-LitePrivileged perceptual information=true2026.03 | 97.02 | 92.27 | 92.82 | — | — | — | — | — | — | — | |
| Think2DrivePrivileged perceptual information=true2026.03 | 91.85 | 85.41 | 86.26 | — | — | — | — | — | — | — | |
| KnowVal-SimLingoExpert=PDM-Lite, Paradigm=KnowVal2025.12 | 88.42 | 69.03 | — | — | — | — | — | — | — | — | |
| DynVLAPrivileged perceptual information=false2026.03 | 88.34 | 72.73 | 72.23 | — | — | — | — | — | — | — | |
| CriticVLAModality=C2026.04 | 88.02 | 73.33 | — | 269.24 | 36.45 | — | — | — | — | — | |
| SimLingoExpert=PDM-Lite, Paradigm=VLA2025.12 | 85.07 | 67.27 | — | — | — | — | — | — | — | — | |
| SimLingoPrivileged perceptual information=false2026.03 | 85.07 | 67.27 | — | — | — | — | — | — | — | — | |
| SimlingoModality=C, Venue=CVPR’ 252026.04 | 85.07 | 67.27 | — | 259.23 | 33.67 | — | — | — | — | — | |
| TF++Privileged perceptual information=false2026.03 | 84.21 | 67.27 | 64.39 | — | — | — | — | — | — | — | |
| TransFuser++Modality=C+L, Venue=arXiv’ 242026.04 | 84.21 | 67.27 | — | — | — | — | — | — | — | — | |
| DMWStyle=Conservative2026.03 | 82.72 | 71.56 | — | 237.06 | 34.62 | 6.18 | 5.26 | 60 | 30.05 | 47.38 | |
| DMW-VanillaStyle=Aggressive2026.03 | 82.19 | 70.97 | — | 253.1 | 15.86 | 7.86 | 5.29 | 78 | 26.46 | 19.69 | |
| DMWStyle=Neutral2026.03 | 82.03 | 70.95 | — | 244.98 | 28.67 | 6.34 | 5.43 | 61 | 27.6 | 40.75 | |
| DMW-VanillaStyle=Neutral2026.03 | 81.96 | 70.63 | — | 247.77 | 19.21 | 7.66 | 5.17 | 77 | 26.63 | 23.16 | |
| DMW-VanillaStyle=Conservative2026.03 | 81.48 | 71.05 | — | 246.8 | 21.87 | 7.75 | 5.37 | 75 | 26.9 | 22.51 | |
| DMWStyle=Aggressive2026.03 | 79.5 | 67.36 | — | 281.56 | 21.62 | 7.72 | 6.01 | 70 | 26.37 | 26.93 | |
| AutoVLAPrivileged perceptual information=false2026.03 | 78.84 | 57.73 | — | — | — | — | — | — | — | — | |
| SimLingoStyle=Aggressive2026.03 | 78.56 | 65.83 | — | 247.6 | 18.61 | 7.66 | 5.39 | 75 | 25.99 | 25.35 | |
| CogDriver-Agent2025.08 | 78.21 | 56.93 | — | 169.52 | 20.5 | — | — | — | — | — | |
| SimLingoStyle=Conservative2026.03 | 78.18 | 65.56 | — | 238.77 | 26.99 | 7.21 | 5.29 | 70 | 29.12 | 33.02 | |
| SimLingoStyle=Neutral2026.03 | 78.15 | 65.85 | — | 241.44 | 24.67 | 7.37 | 5.22 | 75 | 27.81 | 31.41 | |
| MindDrivePrivileged perceptual information=false2026.03 | 78.04 | 55.09 | 56.94 | — | — | — | — | — | — | — | |
| ORIONExpert=Think2Drive, Paradigm=VLA2025.12 | 77.74 | 54.62 | — | — | — | — | — | — | — | — | |
| ORIONPrivileged perceptual information=false2026.03 | 77.74 | 54.62 | 54.72 | — | — | — | — | — | — | — | |
| ORIONModality=C, Venue=ICCV’ 252026.04 | 77.74 | 54.62 | — | 151.48 | 17.38 | — | — | — | — | — | |
| DiffusionDriveExpert=PDM-Lite, Paradigm=E2E2025.12 | 77.68 | 52.72 | — | — | — | — | — | — | — | — | |
| StyleDriveStyle=Conservative2026.03 | 77.02 | 61.96 | — | 242.18 | 23.67 | 6.82 | 5.39 | 70 | 27.19 | 29.98 | |
| StyleDriveStyle=Neutral2026.03 | 76.26 | 62.13 | — | 249.07 | 21.35 | 6.98 | 5.43 | 66 | 23.62 | 29.12 | |
| StyleDriveStyle=Aggressive2026.03 | 75.68 | 60.89 | — | 256.71 | 16.79 | 7.23 | 5.59 | 74 | 24.95 | 27.76 | |
| Raw2DrivePrivileged perceptual information=false2026.03 | 71.36 | 50.24 | 53.34 | — | — | — | — | — | — | — | |
| SafeDrive2026.02 | 66.77 | 42.4 | — | — | — | — | — | — | — | — | |
| DriveAdapterExpert=Think2Drive, Paradigm=E2E2025.12 | 64.22 | 33.08 | — | — | — | — | — | — | — | — | |
| DriveAdapterPrivileged perceptual information=false2026.03 | 64.22 | 33.08 | 42.08 | — | — | — | — | — | — | — | |
| DriveAdapter2025.08 | 64.22 | 33.08 | — | 70.22 | 16.01 | — | — | — | — | — | |
| DriveAdaptorModality=C+L, Venue=ICCV’ 23, Expert Feature Distillation=true2026.04 | 64.22 | 33.08 | — | 70.22 | 16.01 | — | — | — | — | — | |
| DriveTrans.Expert=Think2Drive, Paradigm=E2E2025.12 | 63.46 | 35.01 | — | — | — | — | — | — | — | — | |
| DriveTransformerVenue=ICLR 20252026.02 | 63.46 | 35.01 | — | — | — | — | — | — | — | — | |
| DrivetransformerPrivileged perceptual information=false2026.03 | 63.46 | 35.01 | 38.6 | — | — | — | — | — | — | — | |
| DriveTransformer2025.08 | 63.46 | 35.01 | — | 100.64 | 20.78 | — | — | — | — | — | |
| DriveTransModality=C, Venue=ICLR’ 252026.04 | 63.46 | 35.01 | — | 100.64 | 20.78 | — | — | — | — | — | |
| ThinkTwiceExpert=Think2Drive, Paradigm=E2E2025.12 | 62.44 | 31.23 | — | — | — | — | — | — | — | — | |
| ThinkTwicePrivileged perceptual information=false2026.03 | 62.44 | 31.23 | 37.17 | — | — | — | — | — | — | — | |
| ThinkTwice2025.08 | 62.44 | 31.23 | — | 69.33 | 16.22 | — | — | — | — | — | |
| ThinkTwiceModality=C, Venue=CVPR’ 23, Expert Feature Distillation=true2026.04 | 62.44 | 31.23 | — | 69.33 | 16.22 | — | — | — | — | — | |
| DriveDPOVenue=NeurIPS 20252026.02 | 62.02 | 30.62 | — | — | — | — | — | — | — | — | |
| WoTEVenue=ICCV 20252026.02 | 61.71 | 31.36 | — | — | — | — | — | — | — | — | |
| Hydra-MDPVenue=arXiv 20242026.02 | 59.95 | 29.82 | — | — | — | — | — | — | — | — | |
| TCP-trajExpert=Think2Drive, Paradigm=E2E2025.12 | 59.9 | 30 | — | — | — | — | — | — | — | — | |
| TCP-trajModality=C, Venue=NeurIPS’ 22, Expert Feature Distillation=true2026.04 | 59.9 | 30 | — | 76.54 | 18.08 | — | — | — | — | — | |
| BridgeADVenue=CVPR 20252026.02 | 50.06 | 22.73 | — | — | — | — | — | — | — | — | |
| CogAD2025.08 | 48.3 | 24 | — | 142 | 40.37 | — | — | — | — | — | |
| UniAD-BaseExpert=Think2Drive, Paradigm=E2E2025.12 | 45.81 | 16.36 | — | — | — | — | — | — | — | — | |
| UniAD-BaseVenue=CVPR 20232026.02 | 45.81 | 16.36 | — | — | — | — | — | — | — | — | |
| UniADPrivileged perceptual information=false2026.03 | 45.81 | 16.36 | 15.55 | — | — | — | — | — | — | — | |
| UniADModel Size=Base2025.08 | 45.81 | 16.36 | — | 129.21 | 43.58 | — | — | — | — | — | |
| UniAD-BaseModality=C, Venue=CVPR’ 232026.04 | 45.81 | 16.36 | — | 129.21 | 43.58 | — | — | — | — | — | |
| GenADModality=C, Venue=ECCV’ 242026.04 | 44.81 | 15.9 | — | — | — | — | — | — | — | — | |
| MomAD2025.08 | 44.54 | 16.71 | — | 170.21 | 48.63 | — | — | — | — | — | |
| MomADModality=C, Venue=CVPR’ 252026.04 | 44.54 | 16.71 | — | 170.21 | 48.63 | — | — | — | — | — | |
| VADExpert=Think2Drive, Paradigm=E2E2025.12 | 42.35 | 15 | — | — | — | — | — | — | — | — | |
| VADVenue=ICCV 20232026.02 | 42.35 | 15 | — | — | — | — | — | — | — | — | |
| VADPrivileged perceptual information=false2026.03 | 42.35 | 15 | 18.07 | — | — | — | — | — | — | — | |
| VAD2025.08 | 42.35 | 15 | — | 157.94 | 46.01 | — | — | — | — | — | |
| VADModality=C, Venue=ICCV’ 232026.04 | 42.35 | 15 | — | 157.94 | 46.01 | — | — | — | — | — | |
| ReAL-AD2025.08 | 41.17 | 11.36 | — | — | — | — | — | — | — | — | |
| UniADModel Size=Tiny2025.08 | 40.73 | 13.18 | — | 123.92 | 47.04 | — | — | — | — | — | |
| TCPExpert=Think2Drive, Paradigm=E2E2025.12 | 40.7 | 15 | — | — | — | — | — | — | — | — | |
| TCPVenue=NeurIPS 20222026.02 | 40.7 | 15 | — | — | — | — | — | — | — | — | |
| TCPPrivileged perceptual information=false2026.03 | 40.7 | 15 | 14.63 | — | — | — | — | — | — | — | |
| TCP2025.08 | 40.7 | 15 | — | 54.26 | 47.8 | — | — | — | — | — | |
| TCPModality=C, Venue=NeurIPS’ 22, Expert Feature Distillation=true2026.04 | 40.7 | 15 | — | 54.26 | 47.8 | — | — | — | — | — | |
| AD-MLPExpert=Think2Drive, Paradigm=E2E2025.12 | 18.05 | 0 | — | — | — | — | — | — | — | — | |
| AD-MLPPrivileged perceptual information=false2026.03 | 18.05 | 0 | 0.87 | — | — | — | — | — | — | — | |
| AD-MLP2025.08 | 18.05 | 0 | — | 48.45 | 22.63 | — | — | — | — | — |