# Closed-loop Planning on CARLA longest6 v2 (test)

Source: [Closed-loop Planning on CARLA longest6 v2 (test)](<https://www.sota2.com/research/sota/closed-loop-planning-on-carla-longest6-v2-test>)

Collection index: [llms.txt](<https://www.sota2.com/research/llms.txt>)

Data updated: 2026-07-07T07:41:49.032Z

Evaluation of closed-loop planning performance on the CARLA Longest6 scenario, version 2, using the test split, reporting DS, SR, and RC metrics.

A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage.

| Scope | Recorded value |
| --- | --- |
| Task | Closed-loop Planning |
| Dataset (including any stated split) | CARLA longest6 v2 (test) |
| Metric | DS Score |
| Unit | SCALAR |
| Direction | Higher is better |
| Results loaded | 8 of 8 |
| Coverage | All results currently returned for this benchmark |

Evaluation settings may differ between results. The original papers and recorded configurations are needed to establish comparability. A shared metric name alone does not establish an identical protocol.

## Metrics

- [DS Score](<https://www.sota2.com/research/sota/closed-loop-planning-on-carla-longest6-v2-test.md?metric=DS%20Score>): Higher is better; unit: SCALAR.

- [Success Rate (SR)](<https://www.sota2.com/research/sota/closed-loop-planning-on-carla-longest6-v2-test.md?metric=Success%20Rate%20(SR)>): Higher is better; unit: PERCENT.

- [Route Completion (RC)](<https://www.sota2.com/research/sota/closed-loop-planning-on-carla-longest6-v2-test.md?metric=Route%20Completion%20(RC)>): Higher is better; unit: PERCENT.

## Recorded results

| Method | DS Score | Result date | Report paper |
| --- | --- | --- | --- |
| CLEAR (InternVL3-1B) | 39.89 | Not recorded | 6a4c87fa85dba69fef8b258e |
| CLEAR (InternVL2-1B) | 37.44 | Not recorded | 6a4c87fa85dba69fef8b258e |
| InternVL3-1B | 18.43 | Not recorded | 6a4c87fa85dba69fef8b258e |
| InternVL2-1B (SimLingo) | 13.11 | Not recorded | 6a4c87fa85dba69fef8b258e |
| ORION | 11.13 | Not recorded | 6a4c87fa85dba69fef8b258e |
| SSR | 6.38 | Not recorded | 6a4c87fa85dba69fef8b258e |
| UniAD | 4.64 | Not recorded | 6a4c87fa85dba69fef8b258e |
| VAD | 3.95 | Not recorded | 6a4c87fa85dba69fef8b258e |

### CLEAR (InternVL3-1B)

DS Score: 39.89. Result ID: 6a4cada060b88bb339c7c20d.

[Reporting paper](<https://www.sota2.com/research/paper/6a4c87fa85dba69fef8b258e.md>)

[Method origin paper](<https://www.sota2.com/research/paper/6a4c87fa85dba69fef8b258e.md>)

Recorded evaluation configuration: {"Mode":"IL+RL"}. This record does not assert independent reproduction.

### CLEAR (InternVL2-1B)

DS Score: 37.44. Result ID: 6a4cada060b88bb339c7c20c.

[Reporting paper](<https://www.sota2.com/research/paper/6a4c87fa85dba69fef8b258e.md>)

[Method origin paper](<https://www.sota2.com/research/paper/6a4c87fa85dba69fef8b258e.md>)

Recorded evaluation configuration: {"Mode":"IL+RL"}. This record does not assert independent reproduction.

### InternVL3-1B

DS Score: 18.43. Result ID: 6a4cada060b88bb339c7c20b.

[Reporting paper](<https://www.sota2.com/research/paper/6a4c87fa85dba69fef8b258e.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa78241e209131cea76fa5.md>)

Recorded evaluation configuration: {"Mode":"IL"}. This record does not assert independent reproduction.

### InternVL2-1B (SimLingo)

DS Score: 13.11. Result ID: 6a4cada060b88bb339c7c20a.

[Reporting paper](<https://www.sota2.com/research/paper/6a4c87fa85dba69fef8b258e.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa77681e209131cea73193.md>)

Recorded evaluation configuration: {"Mode":"IL"}. This record does not assert independent reproduction.

### ORION

DS Score: 11.13. Result ID: 6a4cada060b88bb339c7c209.

[Reporting paper](<https://www.sota2.com/research/paper/6a4c87fa85dba69fef8b258e.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa779f1e209131cea746c8.md>)

[Implementation](<https://xiaomi-mlab.github.io/Orion/>)

Recorded evaluation configuration: {"Mode":"IL+RL"}. This record does not assert independent reproduction.

### SSR

DS Score: 6.38. Result ID: 6a4cada060b88bb339c7c208.

[Reporting paper](<https://www.sota2.com/research/paper/6a4c87fa85dba69fef8b258e.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa773f1e209131cea71f3e.md>)

Recorded evaluation configuration: {"Mode":"IL"}. This record does not assert independent reproduction.

### UniAD

DS Score: 4.64. Result ID: 6a4cada060b88bb339c7c206.

[Reporting paper](<https://www.sota2.com/research/paper/6a4c87fa85dba69fef8b258e.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6ee71e209131cea42c46.md>)

[Implementation](<https://github.com/OpenDriveLab/UniAD>)

Recorded evaluation configuration: {"Mode":"IL"}. This record does not assert independent reproduction.

### VAD

DS Score: 3.95. Result ID: 6a4cada060b88bb339c7c207.

[Reporting paper](<https://www.sota2.com/research/paper/6a4c87fa85dba69fef8b258e.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa70671e209131cea4af09.md>)

[Implementation](<https://github.com/hustvl/VAD>)

Recorded evaluation configuration: {"Mode":"IL"}. This record does not assert independent reproduction.

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