Closed-loop autonomous driving on General Driving scenario suite closed-loop (test)
35.8CR (%)VADv2† (w/ Expert BC)
Evaluation results
| Method | Links | ||||
|---|---|---|---|---|---|
| VADv2† (w/ Expert BC)Type=Offline RL, behavior policy mixture=VAD(σ = 0.2) + Random2025.12 | 35.8 | 72 | 0.47 | 0.23 | |
| VADv2* (w/ Expert BC)Type=Offline RL, behavior policy mixture=VAD(σ = 0.2) + VAD(σ = 0.4)2025.12 | 51.1 | 52.8 | 0.75 | 0.27 | |
| UniADType=IL2025.12 | 61.3 | 57.4 | 0.33 | 0.21 | |
| VADv2 (w/ Expert BC)Type=IL2025.12 | 66.4 | 31.8 | 0.84 | 0.28 | |
| VADType=IL2025.12 | 67.2 | 55.8 | 0.28 | 0.19 | |
| VADv2 (w/ std. BC)Type=Offline RL2025.12 | 69.3 | 16 | 1.17 | 0.38 | |
| VADv2Type=IL2025.12 | 73 | 34.1 | 0.45 | 0.28 | |
| SparseDriveType=IL2025.12 | 81.8 | 54.1 | 0.6 | 0.33 |