Closed-loop autonomous driving on Safety-Critical scenario suite closed-loop (test)
17.9CR (%)VADv2 (w/ std. BC)
Evaluation results
| Method | Links | |||
|---|---|---|---|---|
| VADv2 (w/ std. BC)Type=Offline RL2025.12 | 17.9 | 13.1 | 25.2 | |
| VADv2* (w/ Expert BC)Type=Offline RL, behavior policy mixture=VAD(σ = 0.2) + VAD(σ = 0.4)2025.12 | 29.9 | 37 | 34.3 | |
| VADv2 (w/ Expert BC)Type=IL2025.12 | 38.2 | 19.6 | 20.8 | |
| VADv2Type=IL2025.12 | 65.9 | 11.6 | 9.2 | |
| VADv2† (w/ Expert BC)Type=Offline RL, behavior policy mixture=VAD(σ = 0.2) + Random2025.12 | 74.7 | 18.2 | 16.3 | |
| UniADType=IL2025.12 | 83 | 9.8 | 6.6 | |
| VADType=IL2025.12 | 83.1 | 11.4 | 9.4 | |
| SparseDriveType=IL2025.12 | 90.6 | 5.1 | 1.7 |