Closed-loop Planning on Bench2Drive base V0.0.3 (train)
71.36Driving ScoreRaw2Drive
Evaluation Results
| Method | Links | ||||
|---|---|---|---|---|---|
| Raw2Drive2026.06 | 71.36 | 50.24 | — | — | |
| DriveAdapterExpert feature distillation=true2026.06 | 64.22 | 33.08 | 70.22 | 16.01 | |
| DriveTransExpert feature distillation=true2026.06 | 63.46 | 35.01 | 100.64 | 20.78 | |
| ThinkTwiceExpert feature distillation=true, Re-implementation=true, Multi-mode trajectory=true2026.06 | 63.34 | 33.23 | 71.56 | 18.32 | |
| ThinkTwiceExpert feature distillation=true2026.06 | 62.44 | 31.23 | 69.33 | 16.22 | |
| DriveDPO2026.06 | 62.02 | 30.62 | — | — | |
| WoTEExpert feature distillation=true2026.06 | 61.71 | 31.36 | — | — | |
| GameAD2026.04 | 48.35 | 19.43 | 178.96 | 53.11 | |
| MomAD2026.04 | 47.91 | 18.11 | 174.91 | 51.2 | |
| GraphBEV++Backbone=Query2026.06 | 45.71 | 17.92 | 162.82 | 50.14 | |
| MomAD2026.06 | 45.35 | 17.44 | 162.09 | 49.34 | |
| GenAD2026.04 | 44.81 | 15.9 | — | — | |
| SparseDrive2026.04 | 44.54 | 16.71 | 170.21 | 48.63 | |
| VADmmtvariant=multi-modal trajectory2026.04 | 42.87 | 15.91 | 158.12 | 47.22 | |
| VAD2026.04 | 42.35 | 15 | 157.94 | 46.01 | |
| VAD2026.06 | 42.35 | 15 | 157.94 | 46.01 |