Closed-loop Autonomous Driving on Bench2Drive V0.0.3
76.71Driving Score (DS)GraphWorld
Evaluation results
| Method | Links | ||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|
| GraphWorldbase model=ThinkTwice2026.06 | 76.71 | 44.22 | 80.48 | 29.74 | 42.85 | 32.57 | 49.09 | 50 | 67.16 | 48.33 | |
| Raw2DriveVenue=NeurIPS20252026.06 | 71.36 | 50.24 | — | — | 43.35 | 51.11 | 60 | 50 | 62.26 | 53.34 | |
| DriveAdapterVenue=ICCV2023, expert feature distillation=true2026.06 | 64.22 | 33.08 | 70.22 | 16.01 | 28.82 | 26.38 | 48.76 | 50 | 56.43 | 42.08 | |
| DriveTransVenue=ICLR2025, expert feature distillation=true2026.06 | 63.46 | 35.01 | 100.64 | 20.78 | 17.57 | 35 | 48.36 | 40 | 52.1 | 38.6 | |
| ThinkTwice mmtVenue=CVPR2023, expert feature distillation=true, multi-mode trajectory=true, re-implementation=true2026.06 | 63.34 | 33.23 | 71.56 | 18.32 | 31.31 | 21.23 | 38.33 | 50 | 57.45 | 39.66 | |
| ThinkTwiceVenue=CVPR2023, expert feature distillation=true2026.06 | 62.44 | 31.23 | 69.33 | 16.22 | 27.38 | 18.42 | 35.82 | 50 | 54.23 | 37.17 | |
| DriveDPOVenue=NeurIPS20252026.06 | 62.02 | 30.62 | — | — | — | — | — | — | — | — | |
| WoTEVenue=ICCV2025, expert feature distillation=true2026.06 | 61.71 | 31.36 | — | — | — | — | — | — | — | — | |
| GraphWorldbase model=SparseDrive2026.06 | 51.55 | 25.47 | 181.12 | 56.59 | 18.74 | 31.66 | 25.3 | 20 | 26.66 | 24.47 | |
| GraphWorldbase model=VAD2026.06 | 50.78 | 22.59 | 168.11 | 54.04 | 16.84 | 32.31 | 28.46 | 20 | 27.61 | 25.04 | |
| MomAD(SD)Venue=CVPR20252026.06 | 47.91 | 18.11 | 174.91 | 51.2 | 13.21 | 21.02 | 18.01 | 20 | 21.07 | 18.66 | |
| UniAD-BaseVenue=CVPR20232026.06 | 45.81 | 16.36 | 129.21 | 43.58 | 14.1 | 17.78 | 21.67 | 10 | 14.21 | 15.55 | |
| GenADVenue=ECCV20242026.06 | 44.81 | 15.9 | — | — | — | — | — | — | — | — | |
| SparseDriveVenue=ICRA2025, re-implementation=true2026.06 | 44.54 | 16.71 | 170.21 | 48.63 | 12.18 | 23.19 | 17.91 | 20 | 20.98 | 18.85 | |
| VAD mmtVenue=ICCV 2023, multi-mode trajectory=true, re-implementation=true2026.06 | 42.87 | 15.91 | 158.12 | 47.22 | 9.43 | 25.31 | 19.91 | 20 | 20.09 | 18.95 | |
| VADVenue=ICCV20232026.06 | 42.35 | 15 | 157.94 | 46.01 | 8.11 | 24.44 | 18.64 | 20 | 19.15 | 18.07 |