# End-to-End Autonomous Driving on Bench2Drive base V0.0.3 (train)

Source: [End-to-End Autonomous Driving on Bench2Drive base V0.0.3 (train)](<https://www.sota2.com/research/sota/end-to-end-autonomous-driving-on-bench2drive-base-v0-0-3-train>)

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

Data updated: 2026-05-15T07:03:09.896Z

Evaluation of End-to-End Autonomous Driving performance on the specific V0.0.3 training split of the Bench2Drive base dataset, reporting trajectory error (Avg. L2), efficiency, comfort, and maneuver-specific scores (DS, SR, Merging, Give Way, etc.).

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 | End-to-End Autonomous Driving |
| Dataset (including any stated split) | Bench2Drive base V0.0.3 (train) |
| Metric | DS Score |
| Unit | SCALAR |
| Direction | Higher is better |
| Results loaded | 16 of 16 |
| 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/end-to-end-autonomous-driving-on-bench2drive-base-v0-0-3-train.md?metric=DS%20Score>): Higher is better; unit: SCALAR.

- [Avg. L2 Error](<https://www.sota2.com/research/sota/end-to-end-autonomous-driving-on-bench2drive-base-v0-0-3-train.md?metric=Avg.%20L2%20Error>): Lower is better; unit: SCALAR.

- [Average Deviation (t)](<https://www.sota2.com/research/sota/end-to-end-autonomous-driving-on-bench2drive-base-v0-0-3-train.md?metric=Average%20Deviation%20(t)>): Lower is better; unit: SCALAR.

- [SR Score (%)](<https://www.sota2.com/research/sota/end-to-end-autonomous-driving-on-bench2drive-base-v0-0-3-train.md?metric=SR%20Score%20(%25)>): Higher is better; unit: PERCENT.

- [Efficiency Score](<https://www.sota2.com/research/sota/end-to-end-autonomous-driving-on-bench2drive-base-v0-0-3-train.md?metric=Efficiency%20Score>): Higher is better; unit: SCALAR.

- [Comfort Score](<https://www.sota2.com/research/sota/end-to-end-autonomous-driving-on-bench2drive-base-v0-0-3-train.md?metric=Comfort%20Score>): Lower is better; unit: SCALAR.

- [Merging Score](<https://www.sota2.com/research/sota/end-to-end-autonomous-driving-on-bench2drive-base-v0-0-3-train.md?metric=Merging%20Score>): Higher is better; unit: SCALAR.

- [Overtaking Score](<https://www.sota2.com/research/sota/end-to-end-autonomous-driving-on-bench2drive-base-v0-0-3-train.md?metric=Overtaking%20Score>): Higher is better; unit: SCALAR.

- [Emerging Score](<https://www.sota2.com/research/sota/end-to-end-autonomous-driving-on-bench2drive-base-v0-0-3-train.md?metric=Emerging%20Score>): Higher is better; unit: SCALAR.

- [Give Way Score](<https://www.sota2.com/research/sota/end-to-end-autonomous-driving-on-bench2drive-base-v0-0-3-train.md?metric=Give%20Way%20Score>): Higher is better; unit: SCALAR.

- [Traffic Sign Score](<https://www.sota2.com/research/sota/end-to-end-autonomous-driving-on-bench2drive-base-v0-0-3-train.md?metric=Traffic%20Sign%20Score>): Higher is better; unit: SCALAR.

- [Mean Score](<https://www.sota2.com/research/sota/end-to-end-autonomous-driving-on-bench2drive-base-v0-0-3-train.md?metric=Mean%20Score>): Higher is better; unit: SCALAR.

## Recorded results

| Method | DS Score | Result date | Report paper |
| --- | --- | --- | --- |
| DIVER | 68.9 | Not recorded | 68fa7a611e209131cea82bdb |
| DiffAD | 67.92 | Not recorded | 68fa7a611e209131cea82bdb |
| DriveAdapter | 64.22 | Not recorded | 68fa7a611e209131cea82bdb |
| DriveTrans | 63.46 | Not recorded | 68fa7a611e209131cea82bdb |
| ThinkTwice\_mmt | 63.34 | Not recorded | 68fa7a611e209131cea82bdb |
| ThinkTwice | 62.44 | Not recorded | 68fa7a611e209131cea82bdb |
| WoTE | 61.71 | Not recorded | 68fa7a611e209131cea82bdb |
| DIVER | 49.21 | Not recorded | 68fa7a611e209131cea82bdb |
| DIVER | 47.95 | Not recorded | 68fa7a611e209131cea82bdb |
| MomAD(SD) | 47.91 | Not recorded | 68fa7a611e209131cea82bdb |
| UniAD-Base | 45.81 | Not recorded | 68fa7a611e209131cea82bdb |
| MomAD(VAD) | 45.35 | Not recorded | 68fa7a611e209131cea82bdb |
| GenAD | 44.81 | Not recorded | 68fa7a611e209131cea82bdb |
| SparseDrive | 44.54 | Not recorded | 68fa7a611e209131cea82bdb |
| VAD\_mmt | 42.87 | Not recorded | 68fa7a611e209131cea82bdb |
| VAD | 42.35 | Not recorded | 68fa7a611e209131cea82bdb |

### DIVER

DS Score: 68.9. Result ID: 6a06c52a47f34ce924edd7e2.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7a611e209131cea82bdb.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa7a611e209131cea82bdb.md>)

Recorded evaluation configuration: {"Traj.Scheme":"MT","Training":"IL&RL","Venue":"-"}. This record does not assert independent reproduction.

### DiffAD

DS Score: 67.92. Result ID: 6a06c52a47f34ce924edd7e0.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7a611e209131cea82bdb.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa7a171e209131cea8115f.md>)

[Implementation](<https://github.com/wantsu/DiffAD>)

Recorded evaluation configuration: {"Traj.Scheme":"MT","Training":"IL","Venue":"Arxiv 2025","Expert Distillation":"true"}. This record does not assert independent reproduction.

### DriveAdapter

DS Score: 64.22. Result ID: 6a06c52a47f34ce924edd7dd.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7a611e209131cea82bdb.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa70751e209131cea4b2ca.md>)

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

Recorded evaluation configuration: {"Traj.Scheme":"ST","Training":"IL","Venue":"ICCV 2023","Expert Distillation":"true"}. This record does not assert independent reproduction.

### DriveTrans

DS Score: 63.46. Result ID: 6a06c52a47f34ce924edd7de.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7a611e209131cea82bdb.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa79f91e209131cea805ec.md>)

[Implementation](<https://github.com/Thinklab-SJTU/DriveTransformer/>)

Recorded evaluation configuration: {"Traj.Scheme":"MT","Training":"IL","Venue":"ICLR 2025","Expert Distillation":"true"}. This record does not assert independent reproduction.

### ThinkTwice\_mmt

DS Score: 63.34. Result ID: 6a06c52a47f34ce924edd7e1.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7a611e209131cea82bdb.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6f451e209131cea44a9f.md>)

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

Recorded evaluation configuration: {"Traj.Scheme":"MT","Training":"IL","Venue":"CVPR 2023","Expert Distillation":"true","Re-implementation":"true"}. This record does not assert independent reproduction.

### ThinkTwice

DS Score: 62.44. Result ID: 6a06c52a47f34ce924edd7dc.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7a611e209131cea82bdb.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6f451e209131cea44a9f.md>)

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

Recorded evaluation configuration: {"Traj.Scheme":"ST","Training":"IL","Venue":"CVPR 2023","Expert Distillation":"true"}. This record does not assert independent reproduction.

### WoTE

DS Score: 61.71. Result ID: 6a06c52a47f34ce924edd7df.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7a611e209131cea82bdb.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa77dd1e209131cea75ab0.md>)

[Implementation](<https://github.com/liyingyanUCAS/WoTE>)

Recorded evaluation configuration: {"Traj.Scheme":"MT","Training":"IL","Venue":"ICCV 2025","Expert Distillation":"true"}. This record does not assert independent reproduction.

### DIVER

DS Score: 49.21. Result ID: 6a06c52a47f34ce924edd7eb.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7a611e209131cea82bdb.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa7a611e209131cea82bdb.md>)

Recorded evaluation configuration: {"Traj.Scheme":"MT","Training":"IL&RL","Venue":"-"}. This record does not assert independent reproduction.

### DIVER

DS Score: 47.95. Result ID: 6a06c52a47f34ce924edd7e9.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7a611e209131cea82bdb.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa7a611e209131cea82bdb.md>)

Recorded evaluation configuration: {"Traj.Scheme":"MT","Training":"IL&RL","Venue":"-"}. This record does not assert independent reproduction.

### MomAD(SD)

DS Score: 47.91. Result ID: 6a06c52a47f34ce924edd7e7.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7a611e209131cea82bdb.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa78771e209131cea787e9.md>)

[Implementation](<https://github.com/adept-thu/MomAD>)

Recorded evaluation configuration: {"Traj.Scheme":"MT","Training":"IL","Venue":"CVPR 2025"}. This record does not assert independent reproduction.

### UniAD-Base

DS Score: 45.81. Result ID: 6a06c52a47f34ce924edd7e3.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7a611e209131cea82bdb.md>)

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

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

Recorded evaluation configuration: {"Traj.Scheme":"ST","Training":"IL","Venue":"CVPR 2023"}. This record does not assert independent reproduction.

### MomAD(VAD)

DS Score: 45.35. Result ID: 6a06c52a47f34ce924edd7e6.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7a611e209131cea82bdb.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa78771e209131cea787e9.md>)

[Implementation](<https://github.com/adept-thu/MomAD>)

Recorded evaluation configuration: {"Traj.Scheme":"MT","Training":"IL","Venue":"CVPR 2025"}. This record does not assert independent reproduction.

### GenAD

DS Score: 44.81. Result ID: 6a06c52a47f34ce924edd7e5.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7a611e209131cea82bdb.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa72cb1e209131cea5878c.md>)

[Implementation](<https://github.com/wzzheng/GenAD>)

Recorded evaluation configuration: {"Traj.Scheme":"ST","Training":"IL","Venue":"ECCV 2024"}. This record does not assert independent reproduction.

### SparseDrive

DS Score: 44.54. Result ID: 6a06c52a47f34ce924edd7ea.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7a611e209131cea82bdb.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa73621e209131cea5c155.md>)

[Implementation](<https://github.com/swc-17/SparseDrive>)

Recorded evaluation configuration: {"Traj.Scheme":"MT","Training":"IL","Venue":"ICRA 2025","Re-implementation":"true"}. This record does not assert independent reproduction.

### VAD\_mmt

DS Score: 42.87. Result ID: 6a06c52a47f34ce924edd7e8.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7a611e209131cea82bdb.md>)

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

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

Recorded evaluation configuration: {"Traj.Scheme":"MT","Training":"IL","Venue":"ICCV 2023","Re-implementation":"true"}. This record does not assert independent reproduction.

### VAD

DS Score: 42.35. Result ID: 6a06c52a47f34ce924edd7e4.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7a611e209131cea82bdb.md>)

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

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

Recorded evaluation configuration: {"Traj.Scheme":"ST","Training":"IL","Venue":"ICCV 2023"}. This record does not assert independent reproduction.

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