Closed-loop Autonomous Driving on Bench2Drive V0.0.3 benchmark leaderboard · SOTA2 Research

Closed-loop Autonomous Driving on Bench2Drive V0.0.3

76.71Driving Score (DS)GraphWorld

Evaluation Results

Method	Links
GraphWorld2026.06		76.71	44.22	80.48	29.74	42.85	32.57	49.09	50	67.16	48.33
Raw2Drive2026.06		71.36	50.24	—	—	43.35	51.11	60	50	62.26	53.34
DriveAdapter2026.06		64.22	33.08	70.22	16.01	28.82	26.38	48.76	50	56.43	42.08
DriveTrans2026.06		63.46	35.01	100.64	20.78	17.57	35	48.36	40	52.1	38.6
ThinkTwice mmt2026.06		63.34	33.23	71.56	18.32	31.31	21.23	38.33	50	57.45	39.66
ThinkTwice2026.06		62.44	31.23	69.33	16.22	27.38	18.42	35.82	50	54.23	37.17
DriveDPO2026.06		62.02	30.62	—	—	—	—	—	—	—	—
WoTE2026.06		61.71	31.36	—	—	—	—	—	—	—	—
GraphWorld2026.06		51.55	25.47	181.12	56.59	18.74	31.66	25.3	20	26.66	24.47
GraphWorld2026.06		50.78	22.59	168.11	54.04	16.84	32.31	28.46	20	27.61	25.04
MomAD(SD)2026.06		47.91	18.11	174.91	51.2	13.21	21.02	18.01	20	21.07	18.66
UniAD-Base2026.06		45.81	16.36	129.21	43.58	14.1	17.78	21.67	10	14.21	15.55
GenAD2026.06		44.81	15.9	—	—	—	—	—	—	—	—
SparseDrive2026.06		44.54	16.71	170.21	48.63	12.18	23.19	17.91	20	20.98	18.85
VAD mmt2026.06		42.87	15.91	158.12	47.22	9.43	25.31	19.91	20	20.09	18.95
VAD2026.06		42.35	15	157.94	46.01	8.11	24.44	18.64	20	19.15	18.07