End-to-End Autonomous Driving on Bench2Drive 220 routes official
80.71Overall Success Rate (DS)LVDrive
Evaluation results
| Method | Links | ||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|
| LVDriveScheme=IL, Modality=C2026.05 | 80.71 | 58.26 | 155.77 | 14.34 | — | — | — | — | — | — | |
| RoCA (ORION)Base Architecture=ORION2025.06 | 80.38 | 58.2 | 181.06 | — | 34.06 | 74.91 | 83.76 | 40 | 72.83 | 61.11 | |
| UniDrive-WM-AR+DiffScheme=IL, Modality=C2026.05 | 79.31 | 56.42 | 158.65 | 27.93 | — | — | — | — | — | — | |
| UniDrive-WM-ARScheme=IL, Modality=C2026.05 | 79.22 | 56.36 | 158.44 | 28.01 | — | — | — | — | — | — | |
| PerlADReference=-2026.03 | 78.7 | 57.27 | 181.16 | 22.37 | 40 | 75.56 | 68.33 | 50 | 52.11 | 57.2 | |
| MindDriveScheme=RL, Modality=C2026.05 | 78.04 | 55.09 | — | — | — | — | — | — | — | — | |
| ORIONScheme=IL, Modality=C2026.05 | 77.74 | 54.62 | 151.48 | 17.38 | — | — | — | — | — | — | |
| ORION2025.06 | 77.74 | 54.6 | 151.48 | — | 25 | 71.11 | 78.33 | 30 | 69.15 | 54.72 | |
| DriveMoEScheme=IL, Modality=C2026.05 | 74.22 | 48.64 | 175.96 | 15.31 | — | — | — | — | — | — | |
| Hydra-NextReference=ICCV 252026.03 | 73.86 | 50 | 197.76 | 20.68 | 40 | 64.44 | 61.67 | 50 | 50 | 53.22 | |
| TakeADReference=RA-L 262026.03 | 71.39 | 40.83 | 193.3 | 22.89 | 30.77 | 35.56 | 56.67 | 50 | 42.02 | 43 | |
| Raw2DriveReference=NeurIPS 252026.03 | 71.36 | 50.24 | 214.17 | 22.42 | 43.35 | 51.11 | 60 | 50 | 62.26 | 53.34 | |
| Raw2DriveScheme=RL, Modality=C2026.05 | 71.36 | 50.24 | 214.17 | 22.42 | — | — | — | — | — | — | |
| ReCogDriveScheme=RL, Modality=C2026.05 | 71.36 | 45.45 | 138.18 | 17.45 | — | — | — | — | — | — | |
| DiffADReference=arXiv 252026.03 | 67.92 | 38.64 | — | — | 30 | 35.55 | 46.66 | 40 | 46.32 | 38.79 | |
| DiffADScheme=IL, Modality=C2026.05 | 67.92 | 38.64 | — | — | — | — | — | — | — | — | |
| DriveAdapter*Scheme=IL, Modality=C&L2026.05 | 64.22 | 33.08 | 70.22 | 16.01 | — | — | — | — | — | — | |
| ReasonPlanReference=CoRL 252026.03 | 64.01 | 34.55 | 180.64 | 25.63 | 37.5 | 26.67 | 33.3 | 40 | 45.79 | 36.66 | |
| DriveTrans.-L.Reference=ICLR 252026.03 | 63.46 | 35.01 | 100.64 | 20.78 | 17.57 | 35 | 48.36 | 40 | 52.1 | 38.6 | |
| DriveTransformer-LargeScheme=IL, Modality=C2026.05 | 63.46 | 35.01 | 100.64 | 20.78 | — | — | — | — | — | — | |
| DriveTransformer-LModel Scale Configuration=large2025.06 | 63.46 | 35 | 100.64 | — | 17.57 | 35 | 48.36 | 40 | 52.1 | 38.6 | |
| ThinkTwice*Scheme=IL, Modality=C2026.05 | 62.44 | 31.23 | 69.33 | 16.22 | — | — | — | — | — | — | |
| DriveDPOScheme=RL, Modality=C2026.05 | 62.02 | 30.62 | 166.8 | 26.79 | — | — | — | — | — | — | |
| WOTEReference=ICCV 252026.03 | 61.71 | 31.36 | — | — | — | — | — | — | — | — | |
| Driveπ0Scheme=IL, Modality=C2026.05 | 60.45 | 30 | 168.41 | 14.88 | — | — | — | — | — | — | |
| TCP-traj*Scheme=IL, Modality=C2026.05 | 59.9 | 30 | 76.54 | 18.08 | — | — | — | — | — | — | |
| RoCA (SSR)Base Architecture=SSR2025.06 | 59.81 | 41 | 110.61 | — | 31.96 | 48.23 | 60.94 | 40 | 63.75 | 48.98 | |
| RoCA (VAD)Base Architecture=VAD2025.06 | 56.9 | 34.3 | 175.42 | — | 27.39 | 43.91 | 53.76 | 30 | 47.17 | 40.45 | |
| SparseDrive-SModel Scale Configuration=small2025.06 | 51.01 | 27.8 | 103.1 | — | 22.64 | 30.38 | 44.56 | 30 | 53.81 | 36.28 | |
| SSR2025.06 | 47.71 | 24.4 | 97.41 | — | 19.1 | 29.38 | 41.67 | 30 | 56.75 | 35.38 | |
| UniADReference=CVPR 232026.03 | 45.81 | 16.36 | 129.21 | 43.58 | 12.16 | 20 | 23.64 | 10 | 13.89 | 15.89 | |
| UniAD-BaseScheme=IL, Modality=C2026.05 | 45.81 | 16.36 | 129.21 | 43.58 | — | — | — | — | — | — | |
| GenAD2025.06 | 44.81 | 15.9 | — | — | — | — | — | — | — | — | |
| SparseDriveReference=ICRA 252026.03 | 44.54 | 16.71 | 170.21 | 48.63 | 12.18 | 23.19 | 17.91 | 20 | 20.98 | 17.45 | |
| MomADScheme=IL, Modality=C2026.05 | 44.54 | 16.71 | 170.21 | 48.63 | — | — | — | — | — | — | |
| VADReference=ICCV 232026.03 | 42.35 | 15 | 157.94 | 46.01 | 7.14 | 20 | 16.36 | 20 | 20.22 | 16.75 | |
| VADScheme=IL, Modality=C2026.05 | 42.35 | 15 | 157.94 | 46.01 | — | — | — | — | — | — | |
| VADModel Scale Configuration=tiny2025.06 | 42.35 | 15 | 157.94 | — | 8.11 | 24.44 | 18.64 | 20 | 19.15 | 18.07 | |
| TCP*Scheme=IL, Modality=C2026.05 | 40.7 | 15 | 54.26 | 47.8 | — | — | — | — | — | — |