End-to-End Autonomous Driving on Bench2Drive
74.69Driving ScoreDeLL
Evaluation results
| Method | Links | ||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| DeLLTraining Cost (Data)=× 1, Training Cost (Time)=× 12026.03 | 74.69 | — | — | — | — | — | 52.08 | 50.73 | — | — | 33.97 | 29.8 | 42.88 | 79.63 | |
| Baseline + PackNetTraining Cost (Data)=× 1, Training Cost (Time)=× 22026.03 | 74.46 | — | — | — | — | — | 51.64 | 50.65 | — | — | 34.11 | 25.75 | 42.81 | 74.5 | |
| Hydra-NeXtSensors=Front/Back Cameras, Expert feature distillation=false2025.03 | 73.86 | — | — | — | — | — | — | 50 | 197.76 | 20.68 | — | — | — | — | |
| Baseline + ERTraining Cost (Data)=× 1.35, Training Cost (Time)=× 12026.03 | 72.8 | — | — | — | — | — | 49.86 | 47.57 | — | — | 41.52 | 31.11 | 39.26 | 79.17 | |
| BaselineTraining Cost (Data)=× 1, Training Cost (Time)=× 12026.03 | 70.55 | — | — | — | — | — | 45.23 | 44.54 | — | — | 44.5 | 40.25 | 41.11 | 52.83 | |
| DiffADexpert feature distillation=false2025.03 | 67.92 | 30 | 35.55 | 46.66 | 40 | 46.32 | 38.79 | 3,864 | — | — | — | — | — | — | |
| Drive-JEPA2026.01 | 64.52 | — | — | — | — | — | — | 36.82 | 157.85 | 30.24 | — | — | — | — | |
| DriveAdapterexpert feature distillation=true2025.03 | 64.22 | 28.82 | 26.38 | 48.76 | 50 | 56.43 | 42.08 | 3,308 | — | — | — | — | — | — | |
| DriveAdapterSensors=6 Cameras, Expert feature distillation=true2025.03 | 64.22 | — | — | — | — | — | — | 33.08 | 70.22 | 16.01 | — | — | — | — | |
| DriveTransformer2026.01 | 63.46 | — | — | — | — | — | — | 35.01 | 100.64 | 20.78 | — | — | — | — | |
| ThinkTwiceexpert feature distillation=true2025.03 | 62.44 | 27.38 | 18.42 | 35.82 | 50 | 54.23 | 37.17 | 3,123 | — | — | — | — | — | — | |
| ThinkTwiceSensors=6 Cameras, Expert feature distillation=true2025.03 | 62.44 | — | — | — | — | — | — | 31.23 | 69.33 | 16.22 | — | — | — | — | |
| DriveDPO2026.01 | 62.02 | — | — | — | — | — | — | 30.62 | 166.8 | 26.79 | — | — | — | — | |
| iPad2026.01 | 60.52 | — | — | — | — | — | — | 33.18 | 153.83 | 35.51 | — | — | — | — | |
| Hydra-MDPSensors=Front/Back Cameras, Expert feature distillation=false2025.03 | 59.95 | — | — | — | — | — | — | 29.82 | 186.83 | 18.62 | — | — | — | — | |
| TCP-trajexpert feature distillation=true2025.03 | 59.9 | 8.89 | 24.29 | 51.67 | 40 | 46.28 | 34.22 | 3,000 | — | — | — | — | — | — | |
| TCP-TrajSensors=Front Camera, Expert feature distillation=true2025.03 | 59.9 | — | — | — | — | — | — | 30 | 76.54 | 18.08 | — | — | — | — | |
| TCP2026.01 | 59.9 | — | — | — | — | — | — | 30 | 76.54 | 18.08 | — | — | — | — | |
| UniAD-Baseexpert feature distillation=false2025.03 | 45.81 | 14.1 | 17.78 | 21.67 | 10 | 14.21 | 15.55 | 1,636 | — | — | — | — | — | — | |
| UniAD-BaseSensors=6 Cameras, Expert feature distillation=false2025.03 | 45.81 | — | — | — | — | — | — | 16.36 | 129.21 | 43.58 | — | — | — | — | |
| UniAD2026.01 | 45.81 | — | — | — | — | — | — | 16.36 | 129.21 | 43.58 | — | — | — | — | |
| VADexpert feature distillation=false2025.03 | 42.35 | 8.11 | 24.44 | 18.64 | 20 | 19.15 | 18.07 | 1,500 | — | — | — | — | — | — | |
| VADSensors=6 Cameras, Expert feature distillation=false2025.03 | 42.35 | — | — | — | — | — | — | 15 | 157.94 | 46.01 | — | — | — | — | |
| VAD2026.01 | 42.35 | — | — | — | — | — | — | 15 | 157.94 | 46.01 | — | — | — | — | |
| UniAD-Tinyexpert feature distillation=false2025.03 | 40.73 | 8.89 | 9.33 | 20 | 20 | 15.43 | 14.73 | 1,318 | — | — | — | — | — | — | |
| TCPexpert feature distillation=true2025.03 | 40.7 | 16.18 | 20 | 20 | 10 | 6.99 | 14.63 | 1,500 | — | — | — | — | — | — | |
| TCPSensors=Front Camera, Expert feature distillation=true2025.03 | 40.7 | — | — | — | — | — | — | 15 | 54.26 | 47.8 | — | — | — | — | |
| TCP-ctrlexpert feature distillation=true2025.03 | 30.47 | 10.29 | 4.44 | 10 | 10 | 6.45 | 8.23 | 727 | — | — | — | — | — | — | |
| TCP-CtrlSensors=Front Camera, Expert feature distillation=true2025.03 | 30.47 | — | — | — | — | — | — | 7.27 | 55.97 | 51.51 | — | — | — | — | |
| AD-MLPexpert feature distillation=false2025.03 | 18.05 | 0 | 0 | 0 | 0 | 4.35 | 0.87 | 0 | — | — | — | — | — | — | |
| AD-MLP2026.01 | 18.05 | — | — | — | — | — | — | 0 | 48.45 | 22.63 | — | — | — | — |