Closed-loop simulation on NeuroNCAP
3.49NeuroNCAP Score (Avg)ImagiDrive-S
Evaluation results
| Method | Links | ||||||||
|---|---|---|---|---|---|---|---|---|---|
| ImagiDrive-SBase Model=InternVL2.52025.08 | 3.49 | 4.15 | 2.45 | 3.88 | 44.9 | 33.8 | 74 | 26.8 | |
| ColaVLAReference=This Paper2025.12 | 3.48 | 3.54 | 3.16 | 3.75 | 36.8 | 32.3 | 51.6 | 26.4 | |
| ImagiDrive-ABase Model=InternVL2.52025.08 | 3.11 | 3.81 | 1.97 | 3.54 | 48.57 | 37.24 | 78.47 | 30.01 | |
| BridgeAD-BReference=CVPR 2025, Trajectory post-processing=true2025.12 | 3.06 | — | — | — | 44.3 | — | — | — | |
| ImagiDrive-SBase Model=LLaVA-1.62025.08 | 2.99 | 3.63 | 1.88 | 3.47 | 59.45 | 45.72 | 82.15 | 50.49 | |
| BridgeAD-SReference=CVPR 2025, Trajectory post-processing=true2025.12 | 2.98 | — | — | — | 46.1 | — | — | — | |
| Distilled8B BEVTraining=Det. + Distill2026.03 | 2.71 | — | — | — | 55 | — | — | — | |
| Distilled1B BEVTraining=Det. + Distill2026.03 | 2.46 | — | — | — | 63 | — | — | — | |
| ImagiDrive-ABase Model=LLaVA-1.62025.08 | 2.37 | 2.89 | 1.4 | 2.81 | 66.79 | 50.13 | 90.06 | 60.18 | |
| Impromptu VLA2025.08 | 2.15 | 1.77 | 2.31 | 1.75 | 65.5 | 70 | 59 | 65 | |
| Our BaselineTraining=Det.2026.03 | 2.1 | — | — | — | 62 | — | — | — | |
| ImpromptuVLAReference=NeurIPS 2025, Additional training data=true, Text-based driving VLM model=true2025.12 | 2.06 | 2.55 | 1.86 | 1.78 | 65.1 | 54.8 | 72.8 | 67.6 | |
| BridgeAD-BReference=CVPR 2025, Trajectory post-processing=false2025.12 | 1.6 | — | — | — | 72.6 | — | — | — | |
| BridgeAD2025.08 | 1.6 | — | — | — | 72.6 | — | — | — | |
| BridgeAD-SReference=CVPR 2025, Trajectory post-processing=false2025.12 | 1.52 | — | — | — | 76.2 | — | — | — | |
| SparseDriveReference=ICRA 20252025.12 | 0.92 | — | — | — | 93.9 | — | — | — | |
| SparseDriveOriginal Setting=true2025.08 | 0.92 | 1.16 | 0.63 | 0.96 | 93.9 | 93.4 | 98.4 | 90 | |
| UniADReference=CVPR 20232025.12 | 0.73 | 0.84 | 0.1 | 1.26 | 88.6 | 87.8 | 98.4 | 79.6 | |
| UniAD2025.08 | 0.73 | 0.84 | 0.1 | 1.26 | 88.6 | 87.8 | 98.4 | 79.6 | |
| VADReference=ICCV 20232025.12 | 0.66 | 0.47 | 0.04 | 1.45 | 92.5 | 96.2 | 99.6 | 81.6 | |
| VADOriginal Setting=true2025.08 | 0.66 | 0.47 | 0.04 | 1.45 | 92.5 | 96.2 | 99.6 | 81.6 |