Closed-loop Planning on CARLA longest6 v2 (test)
39.89DS ScoreCLEAR (InternVL3-1B)
Evaluation results
| Method | Links | |||
|---|---|---|---|---|
| CLEAR (InternVL3-1B)Mode=IL+RL2026.07 | 39.89 | 25 | 47.24 | |
| CLEAR (InternVL2-1B)Mode=IL+RL2026.07 | 37.44 | 25 | 41.91 | |
| InternVL3-1BMode=IL2026.07 | 18.43 | 0 | 21.17 | |
| InternVL2-1B (SimLingo)Mode=IL2026.07 | 13.11 | 0 | 19.55 | |
| ORIONMode=IL+RL2026.07 | 11.13 | 0 | 15.98 | |
| SSRMode=IL2026.07 | 6.38 | 0 | 10.02 | |
| UniADMode=IL2026.07 | 4.64 | 0 | 8.78 | |
| VADMode=IL2026.07 | 3.95 | 0 | 6.44 |