Closed-loop Collaborative Driving on CARLA Town05
35.73Disagreement Score (V0)SimLingo + LACO
Evaluation results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| SimLingo + LACOCond.=TP, Mod.=C, Params (B)=0.5, Comm.=LACO2026.05 | 35.73 | 72.06 | 29.22 | 68 | 382 | 103 | |
| ORION + LACOCond.=NC, Mod.=C, Params (B)=7, Comm.=LACO2026.05 | 35.48 | 68.98 | 32.65 | 63.75 | 430 | 4,881 | |
| SimLingoCond.=TP, Mod.=C, Params (B)=0.5, Comm.=Visual2026.05 | 32.14 | 65.03 | 27.24 | 52.17 | 52 | 896 | |
| LMDrive (Vicuna) + LACOCond.=NC, Mod.=C&L, Params (B)=7, Comm.=LACO2026.05 | 32.07 | 61.36 | 31.41 | 51.56 | 203 | 179 | |
| ORIONCond.=NC, Mod.=C, Params (B)=7, Comm.=Visual2026.05 | 31.48 | 60.48 | 29.88 | 59.82 | 82 | 8,208 | |
| SimLingoCond.=TP, Mod.=C, Params (B)=0.5, Comm.=Language2026.05 | 30.06 | 62.23 | 26.14 | 48.63 | 1,300 | 1.8 | |
| ORIONCond.=NC, Mod.=C, Params (B)=7, Comm.=Language2026.05 | 29.34 | 54.2 | 27.19 | 56.35 | 7,802 | 2.3 | |
| SimLingoCond.=TP, Mod.=C, Params (B)=0.5, Comm.=Noncollab2026.05 | 28.58 | 56.7 | 23.35 | 51.63 | — | — | |
| LMDrive (LLaVA) + LACOCond.=NC, Mod.=C&L, Params (B)=7, Comm.=LACO2026.05 | 28.4 | 48.93 | 30.13 | 52.96 | 215 | 179 | |
| LMDrive (Vicuna)Cond.=NC, Mod.=C&L, Params (B)=7, Comm.=Visual2026.05 | 27.5 | 52.32 | 26.52 | 40.85 | 95 | 334 | |
| ORIONCond.=NC, Mod.=C, Params (B)=7, Comm.=Noncollab2026.05 | 26.68 | 52.12 | 25.91 | 50.32 | — | — | |
| LMDrive (LLaVA)Cond.=NC, Mod.=C&L, Params (B)=7, Comm.=Visual2026.05 | 26.64 | 35.57 | 27.61 | 36.53 | 95 | 334 | |
| LMDrive (Vicuna)Cond.=NC, Mod.=C&L, Params (B)=7, Comm.=Noncollab2026.05 | 25.16 | 34.97 | 17.3 | 38.13 | — | — | |
| LMDrive (LLaVA)Cond.=NC, Mod.=C&L, Params (B)=7, Comm.=Language2026.05 | 24.82 | 28.51 | 24.46 | 35.54 | 8,021 | 2.51 | |
| LMDrive (Vicuna)Cond.=NC, Mod.=C&L, Params (B)=7, Comm.=Language2026.05 | 24.79 | 38.03 | 24.25 | 32.2 | 8,340 | 2.5 | |
| LMDrive (LLaMA) + LACOCond.=NC, Mod.=C&L, Params (B)=7, Comm.=LACO2026.05 | 22.84 | 39.55 | 30.54 | 61.34 | 215 | 179 | |
| LMDrive (LLaVA)Cond.=NC, Mod.=C&L, Params (B)=7, Comm.=Noncollab2026.05 | 20.75 | 24.23 | 23.47 | 28.1 | — | — | |
| LMDrive (LLaMA)Cond.=NC, Mod.=C&L, Params (B)=7, Comm.=Visual2026.05 | 19.32 | 37.2 | 29.09 | 65.15 | 95 | 334 | |
| LMDrive (LLaMA)Cond.=NC, Mod.=C&L, Params (B)=7, Comm.=Language2026.05 | 18.8 | 28.83 | 24.41 | 49.55 | 8,509 | 2.51 | |
| LMDrive (LLaMA)Cond.=NC, Mod.=C&L, Params (B)=7, Comm.=Noncollab2026.05 | 15.33 | 23.29 | 19.82 | 35.3 | — | — |