End-to-End Autonomous Driving on Bench2Drive base set
81.9Driving ScoreGeRo (ORION)
Evaluation results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| GeRo (ORION)Condition=NC, Aux. Sup.=M+B+Mo2026.01 | 81.9 | 60.1 | 176.51 | 40.22 | — | |
| CoT4AD-CoTCondition=NC, Modality=C, Expert feature distillation=false2025.11 | 81.22 | 55.78 | 149.28 | 47.4 | — | |
| CoT4ADCondition=NC, Modality=C, Expert feature distillation=false2025.11 | 80.24 | 55.22 | 153.33 | 46.78 | — | |
| GeRo (Qwen2.5VL)Condition=NC, Aux. Sup.=B+Mo2026.01 | 79.6 | 57.8 | 159.66 | 44.75 | — | |
| ORIONCondition=navigation command, Modality=camera2025.03 | 77.74 | 54.62 | 151.48 | 17.38 | 0.68 | |
| ORIONCondition=NC, Modality=C, Expert feature distillation=false2025.11 | 77.74 | 54.62 | 151.48 | 17.38 | — | |
| ORIONCondition=NC, Aux. Sup.=M+B+Mo2026.01 | 77.74 | 54.62 | 151.48 | 17.38 | — | |
| ORION (Qwen2.5VL)Condition=NC, Aux. Sup.=M+B+Mo2026.01 | 76.88 | 53.9 | 146.16 | 24.75 | — | |
| DriveAdapter*Condition=target point, Modality=camera/LiDAR, expert feature distillation=true2025.03 | 64.22 | 33.08 | 70.22 | 16.01 | 1.01 | |
| DriveAdapterCondition=TP, Modality=C&L, Expert feature distillation=true2025.11 | 64.22 | 33.08 | 70.22 | 16.01 | — | |
| DriveAdapterCondition=TP, Aux. Sup.=E+S2026.01 | 64.22 | 33.08 | 70.22 | 16.01 | — | |
| Qwen2.5VLCondition=NC, Aux. Sup.=B+Mo2026.01 | 63.9 | 31.6 | 119.34 | 10.11 | — | |
| DriveTransformer-LargeCondition=navigation command, Modality=camera2025.03 | 63.46 | 35.01 | 100.64 | 20.78 | 0.62 | |
| DriveTransformer-LargeCondition=NC, Modality=C, Expert feature distillation=false2025.11 | 63.46 | 35.01 | 100.64 | 20.78 | — | |
| DriveTransformer-LargeCondition=NC, Aux. Sup.=M+B+Mo2026.01 | 63.46 | 35.01 | 100.64 | 20.78 | — | |
| ThinkTwice*Condition=target point, Modality=camera, expert feature distillation=true2025.03 | 62.44 | 31.23 | 69.33 | 16.22 | 0.95 | |
| ThinkTwiceCondition=TP, Modality=C, Expert feature distillation=true2025.11 | 62.44 | 31.23 | 69.33 | 16.22 | — | |
| ThinkTwiceCondition=TP, Aux. Sup.=E+D+S+M2026.01 | 62.44 | 31.23 | 69.33 | 16.22 | — | |
| TCP-traj*Condition=target point, Modality=camera, expert feature distillation=true2025.03 | 59.9 | 30 | 76.54 | 18.08 | 1.7 | |
| TCP-trajCondition=TP, Modality=C, Expert feature distillation=true2025.11 | 59.9 | 30 | 76.54 | 18.08 | — | |
| TCP-trajCondition=TP, Aux. Sup.=E+Speed2026.01 | 59.9 | 30 | 76.54 | 18.08 | — | |
| TCP-traj w/o distillationCondition=target point, Modality=camera, expert feature distillation=false2025.03 | 49.3 | 20.45 | 78.78 | 22.96 | 1.96 | |
| TCP-traj w/o distillationCondition=TP, Modality=C, Expert feature distillation=false2025.11 | 49.3 | 20.45 | 78.78 | 22.96 | — | |
| TCP-traj w/o distillationCondition=TP, Aux. Sup.=Speed2026.01 | 49.3 | 20.45 | 78.78 | 22.96 | — | |
| UniAD-BaseCondition=navigation command, Modality=camera2025.03 | 45.81 | 16.36 | 129.21 | 43.58 | 0.73 | |
| UniAD-BaseCondition=NC, Modality=C, Expert feature distillation=false2025.11 | 45.81 | 16.36 | 129.21 | 43.58 | — | |
| UniAD-BaseCondition=NC, Aux. Sup.=M+B+Mo+O2026.01 | 45.81 | 16.36 | 129.21 | 43.58 | — | |
| GenADCondition=navigation command, Modality=camera2025.03 | 44.81 | 15.9 | — | — | — | |
| GenADCondition=NC, Modality=C, Expert feature distillation=false2025.11 | 44.81 | 15.9 | — | — | — | |
| GenADCondition=NC, Aux. Sup.=M+B+Mo2026.01 | 44.81 | 15.9 | — | — | — | |
| MomADCondition=navigation command, Modality=camera2025.03 | 44.54 | 16.71 | 170.21 | 48.63 | 0.87 | |
| MomADCondition=NC, Modality=C, Expert feature distillation=false2025.11 | 44.54 | 16.71 | 170.21 | 48.63 | — | |
| MomADCondition=NC, Aux. Sup.=M+B+Mo2026.01 | 44.54 | 16.71 | 170.21 | 48.63 | — | |
| VADCondition=navigation command, Modality=camera2025.03 | 42.35 | 15 | 157.94 | 46.01 | 0.91 | |
| VADCondition=NC, Modality=C, Expert feature distillation=false2025.11 | 42.35 | 15 | 157.94 | 46.01 | — | |
| VADCondition=NC, Aux. Sup.=M+B+Mo2026.01 | 42.35 | 15 | 157.94 | 46.01 | — | |
| UniAD-TinyCondition=navigation command, Modality=camera2025.03 | 40.73 | 13.18 | 123.92 | 47.04 | 0.8 | |
| UniAD-TinyCondition=NC, Modality=C, Expert feature distillation=false2025.11 | 40.73 | 13.18 | 123.92 | 47.04 | — | |
| UniAD-TinyCondition=NC, Aux. Sup.=M+B+Mo+O2026.01 | 40.73 | 13.18 | 123.92 | 47.04 | — | |
| TCP*Condition=target point, Modality=camera, expert feature distillation=true2025.03 | 40.7 | 15 | 54.26 | 47.8 | 1.7 | |
| TCPCondition=TP, Modality=C, Expert feature distillation=true2025.11 | 40.7 | 15 | 54.26 | 47.8 | — | |
| TCP-ctrl*Condition=target point, Modality=camera, expert feature distillation=true2025.03 | 30.47 | 7.27 | 55.97 | 51.51 | — | |
| TCP-ctrlCondition=TP, Modality=C, Expert feature distillation=true2025.11 | 30.47 | 7.27 | 55.97 | 51.51 | — | |
| AD-MLPCondition=navigation command, Modality=camera2025.03 | 18.05 | 0 | 48.45 | 22.63 | 3.64 | |
| AD-MLPCondition=NC, Modality=C, Expert feature distillation=false2025.11 | 18.05 | 0 | 48.45 | 22.63 | — | |
| AD-MLPCondition=NC, Aux. Sup.=None2026.01 | 18.05 | 0 | 48.45 | 22.63 | — |