Closed-loop Autonomous Driving on Bench2Drive closed-loop
97DSPDM-Lite
Evaluation results
| Method | Links | ||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| PDM-LiteType=Rule-based planner, Access=Privileged information2025.05 | 97 | 92.3 | — | — | 88.8 | 93.3 | 98.3 | 90 | 93.7 | 92.8 | — | — | |
| Think2DriveVenue=ECCV 2024, Scheme=RL Expert, Modality=Privileged2025.05 | 91.85 | 85.41 | 269.14 | 25.97 | — | — | — | — | — | — | — | — | |
| PersonaDriveStyle=Conservative2026.06 | 89.16 | 73.37 | 258.44 | 33.05 | — | — | — | — | — | — | 5.1 | 3.17 | |
| VLADriver-RAGParadigm=VLA2026.05 | 89.12 | 70.42 | — | — | — | — | — | — | — | — | — | — | |
| PersonaDriveStyle=Aggressive2026.06 | 88.35 | 71.56 | 269.2 | 27.85 | — | — | — | — | — | — | 6 | 3.96 | |
| PersonaDriveStyle=Neutral2026.06 | 87.21 | 69.27 | 264.83 | 31.2 | — | — | — | — | — | — | 5.5 | 3.51 | |
| SimlingoParadigm=VLA2026.05 | 85.07 | 67.27 | — | — | — | — | — | — | — | — | — | — | |
| DMWStyle=Conservative2026.06 | 82.72 | 71.56 | 237.06 | 34.62 | — | — | — | — | — | — | 6.18 | 5.26 | |
| DMWStyle=Neutral2026.06 | 82.03 | 70.95 | 244.98 | 28.67 | — | — | — | — | — | — | 6.34 | 5.43 | |
| DMWStyle=Aggressive2026.06 | 79.5 | 67.36 | 281.56 | 21.62 | — | — | — | — | — | — | 7.72 | 6.01 | |
| GaussianFusion2025.05 | 79.1 | 54.4 | — | — | 36.6 | 64.4 | 66.5 | 53.3 | 60.8 | 56.3 | — | — | |
| SimLingoStyle=Aggressive2026.06 | 78.56 | 65.83 | 247.6 | 18.61 | — | — | — | — | — | — | 7.66 | 5.39 | |
| SimLingoStyle=Conservative2026.06 | 78.18 | 65.56 | 238.77 | 26.99 | — | — | — | — | — | — | 7.21 | 5.29 | |
| SimLingoStyle=Neutral2026.06 | 78.15 | 65.85 | 241.44 | 24.67 | — | — | — | — | — | — | 7.37 | 5.22 | |
| ORIONParadigm=VLA2026.05 | 77.74 | 54.62 | — | — | — | — | — | — | — | — | — | — | |
| StyleDriveStyle=Conservative2026.06 | 77.02 | 61.96 | 242.18 | 23.67 | — | — | — | — | — | — | 6.82 | 5.39 | |
| TF++Note=Implementation uses same backbone and training dataset as current method2025.05 | 76.9 | 54 | — | — | 48.8 | 37.6 | 64.2 | 50 | 59.7 | 52 | — | — | |
| StyleDriveStyle=Neutral2026.06 | 76.26 | 62.13 | 249.07 | 21.35 | — | — | — | — | — | — | 6.98 | 5.43 | |
| StyleDriveStyle=Aggressive2026.06 | 75.68 | 60.89 | 256.71 | 16.79 | — | — | — | — | — | — | 7.23 | 5.59 | |
| Raw2DriveScheme=RL, Modality=Image2025.05 | 71.36 | 50.24 | 214.17 | 22.42 | — | — | — | — | — | — | — | — | |
| DriveAdapterVenue=ICCV 2023, Scheme=IL, Modality=Image, Expert Distillation=true2025.05 | 64.22 | 33.08 | 70.22 | 16.01 | — | — | — | — | — | — | — | — | |
| DriverAdapterParadigm=E2E2026.05 | 64.22 | 33.08 | — | — | — | — | — | — | — | — | — | — | |
| DriveAdapter2025.05 | 64.2 | 33.1 | — | — | 28.8 | 26.4 | 48.8 | 50 | 56.4 | 42.1 | — | — | |
| DriveTransformer2025.05 | 63.5 | 35 | — | — | 17.6 | 35 | 48.4 | 40 | 52.1 | 38.6 | — | — | |
| DriveTransVenue=ICLR 2025, Scheme=IL, Modality=Image2025.05 | 63.46 | 35.01 | 100.64 | 20.78 | — | — | — | — | — | — | — | — | |
| ThinkTwiceVenue=CVPR 2023, Scheme=IL, Modality=Image, Expert Distillation=true2025.05 | 62.44 | 31.23 | 69.33 | 16.22 | — | — | — | — | — | — | — | — | |
| ThinkTwiceParadigm=E2E2026.05 | 62.44 | 31.23 | — | — | — | — | — | — | — | — | — | — | |
| ThinkTwice2025.05 | 62.4 | 33.2 | — | — | 27.4 | 18.4 | 35.8 | 50 | 54.4 | 37.2 | — | — | |
| TCP-trajVenue=NeurIPS 2022, Scheme=IL, Modality=Image, Expert Distillation=true2025.05 | 59.9 | 30 | 76.54 | 18.08 | — | — | — | — | — | — | — | — | |
| TCP-trajParadigm=E2E2026.05 | 59.9 | 30 | — | — | — | — | — | — | — | — | — | — | |
| X-DriverPre-training frames=3 million frames, Chain of Thought (CoT)=true, Task version=auxiliary task version, Subtask splitting=split into 4 subtasks2025.05 | 51.7 | 18.1 | — | — | — | — | — | — | — | — | — | — | |
| X-DriverPre-training frames=3 million frames, Chain of Thought (CoT)=false2025.05 | 49.1 | 15.2 | — | — | — | — | — | — | — | — | — | — | |
| UniADPre-training frames=2 million frames, Chain of Thought (CoT)=false2025.05 | 45.9 | 17.5 | — | — | — | — | — | — | — | — | — | — | |
| UniAD-BaseVenue=CVPR 2023, Scheme=IL, Modality=Image2025.05 | 45.81 | 16.36 | 129.21 | 43.58 | — | — | — | — | — | — | — | — | |
| UniAD-BaseParadigm=E2E2026.05 | 45.81 | 16.36 | — | — | — | — | — | — | — | — | — | — | |
| UniAD2025.05 | 45.8 | 16.4 | — | — | 14.1 | 17.8 | 21.7 | 10 | 14.2 | 15.6 | — | — | |
| GenADVenue=ECCV 2024, Scheme=IL, Modality=Image2025.05 | 44.81 | 15.9 | — | — | — | — | — | — | — | — | — | — | |
| MomADVenue=CVPR 2025, Scheme=IL, Modality=Image2025.05 | 44.54 | 16.71 | 170.21 | 48.63 | — | — | — | — | — | — | — | — | |
| VAD2025.05 | 42.4 | 15 | — | — | 8.1 | 24.4 | 18.6 | 20 | 19.2 | 18.1 | — | — | |
| VADVenue=ICCV 2023, Scheme=IL, Modality=Image2025.05 | 42.35 | 15 | 157.94 | 46.01 | — | — | — | — | — | — | — | — | |
| VADParadigm=E2E2026.05 | 42.35 | 15 | — | — | — | — | — | — | — | — | — | — | |
| TCP2025.05 | 40.7 | 15 | — | — | 16.2 | 20 | 20 | 10 | 7 | 14.6 | — | — | |
| TCPParadigm=E2E2026.05 | 40.7 | 15 | — | — | — | — | — | — | — | — | — | — | |
| AD-MLP2025.05 | 18.1 | 0 | — | — | 0 | 0 | 0 | 0 | 4.4 | 0.9 | — | — | |
| AD-MLPVenue=Arxiv 2023, Scheme=IL, Modality=State2025.05 | 18.05 | 0 | 48.45 | 22.63 | — | — | — | — | — | — | — | — | |
| AD-MLPParadigm=E2E2026.05 | 18.05 | 0 | — | — | — | — | — | — | — | — | — | — |