Closed-loop Autonomous Driving Planning on Bench2Drive (test)
86.8Driving Score (DS)HiP-AD
Evaluation results
| Method | Links | ||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|
| HiP-ADzero-shot=true2026.07 | 86.8 | 69.1 | 203.1 | 19.4 | 50 | 84.4 | 83.3 | 40 | 50.5 | 65.9 | |
| CLEARBackbone=InternVL3-1B2026.07 | 86.8 | 69.5 | 275.4 | 25.7 | 57.5 | 66.7 | 85 | 70 | 69.8 | 69.8 | |
| CLEARBackbone=InternVL2-1B2026.07 | 85.9 | 68.2 | 268.2 | 31.1 | 56.8 | 66 | 83.4 | 69 | 67.9 | 68.6 | |
| SimLingo2026.07 | 85.1 | 67.3 | 259.2 | 33.7 | 54 | 57 | 88.3 | 53.3 | 82.5 | 67 | |
| GeRo2026.07 | 81.9 | 60.1 | 176.5 | 40.2 | 40.1 | 78.2 | 87.3 | 50 | 76.8 | 66.5 | |
| ORION2026.07 | 77.7 | 54.6 | 151.5 | 17.4 | 25 | 71.1 | 78.3 | 30 | 69.2 | 54.7 | |
| ReCogDrive2026.07 | 71.4 | 45.5 | 138.2 | 17.5 | 29.7 | 20 | 69.1 | 20 | 71.3 | 42 | |
| Raw2Drive2026.07 | 71.4 | 50.2 | 214.2 | 22.42 | 43.4 | 51.1 | 60 | 50 | 62.3 | 53.3 | |
| DriveAdapter2026.07 | 64.2 | 33.1 | 70.2 | 16 | 28.4 | 28.4 | 47.5 | 50 | 56.4 | 42.1 | |
| Qwen2.52026.07 | 63.9 | 31.6 | 119.3 | 10.1 | 14.3 | 28.9 | 30.1 | 30 | 24.7 | 25.6 | |
| DriveTransformer-L2026.07 | 63.5 | 35 | 100.6 | 20.8 | 17.6 | 35 | 48.4 | 40 | 52.1 | 38.6 | |
| ThinkTwice2026.07 | 62.4 | 31.2 | 69.3 | 16.2 | 27.4 | 18.4 | 35.8 | 50 | 54.2 | 37.2 | |
| TCP-traj2026.07 | 59.9 | 30 | 76.5 | 18.1 | 28.8 | 24.3 | 51.7 | 40 | 46.3 | 34.2 | |
| UniAD-Base2026.07 | 45.8 | 16.4 | 129.2 | 43.6 | 8.9 | 9.3 | 20 | 20 | 14.2 | 14.5 | |
| MomAD2026.07 | 44.5 | 16.7 | 170.2 | 48.6 | — | — | — | — | — | — | |
| VAD2026.07 | 42.4 | 15 | 157.9 | 46 | 11.4 | 11.4 | 18.6 | 20 | 19.2 | 18.1 |