# End-to-End Autonomous Driving on Bench2Drive Closed-loop Source: [End-to-End Autonomous Driving on Bench2Drive Closed-loop]() Collection index: [llms.txt]() Data updated: 2026-02-26T05:41:16.689Z Evaluation of End-to-End Autonomous Driving performance specifically within the Bench2Drive closed-loop environment, utilizing metrics such as Driving Score (DS), Success Rate (SR), Efficiency, and Comfortness. 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 Closed-loop | | Metric | Driving Score | | Unit | SCALAR | | Direction | Higher is better | | Results loaded | 10 of 10 | | 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 - [Driving Score](): Higher is better; unit: SCALAR. - [Success Rate](): Higher is better; unit: PERCENT. - [Efficiency Score](): Higher is better; unit: SCALAR. - [Comfort Score](): Higher is better; unit: SCALAR. ## Recorded results | Method | Driving Score | Result date | Report paper | | --- | --- | --- | --- | | PDM-Lite | 96.25 | Not recorded | 6948d05e423ea42265729da5 | | TakeAD | 71.39 | Not recorded | 6948d05e423ea42265729da5 | | DriveAdapter | 64.22 | Not recorded | 6948d05e423ea42265729da5 | | DriveTransformer-Large | 63.46 | Not recorded | 6948d05e423ea42265729da5 | | ThinkTwice | 62.44 | Not recorded | 6948d05e423ea42265729da5 | | TakeAD | 61.82 | Not recorded | 6948d05e423ea42265729da5 | | MomAD | 47.91 | Not recorded | 6948d05e423ea42265729da5 | | UniAD | 45.81 | Not recorded | 6948d05e423ea42265729da5 | | VAD | 42.35 | Not recorded | 6948d05e423ea42265729da5 | | TCP | 40.7 | Not recorded | 6948d05e423ea42265729da5 | ### PDM-Lite Driving Score: 96.25. Result ID: 6999e9155698665ec4696bf3. [Reporting paper]() Recorded evaluation configuration: {"type":"privileged expert"}. This record does not assert independent reproduction. ### TakeAD Driving Score: 71.39. Result ID: 6999e9155698665ec4696bf2. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"post-optimization":"true"}. This record does not assert independent reproduction. ### DriveAdapter Driving Score: 64.22. Result ID: 6999e9155698665ec4696bec. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"expert feature distillation":"true","navigation":"target waypoint"}. This record does not assert independent reproduction. ### DriveTransformer-Large Driving Score: 63.46. Result ID: 6999e9155698665ec4696bf0. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"navigation":"one-hot commands"}. This record does not assert independent reproduction. ### ThinkTwice Driving Score: 62.44. Result ID: 6999e9155698665ec4696beb. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"expert feature distillation":"true","navigation":"target waypoint"}. This record does not assert independent reproduction. ### TakeAD Driving Score: 61.82. Result ID: 6999e9155698665ec4696bf1. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"post-optimization":"false"}. This record does not assert independent reproduction. ### MomAD Driving Score: 47.91. Result ID: 6999e9155698665ec4696bef. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"navigation":"one-hot commands"}. This record does not assert independent reproduction. ### UniAD Driving Score: 45.81. Result ID: 6999e9155698665ec4696bed. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"navigation":"one-hot commands"}. This record does not assert independent reproduction. ### VAD Driving Score: 42.35. Result ID: 6999e9155698665ec4696bee. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"navigation":"one-hot commands"}. This record does not assert independent reproduction. ### TCP Driving Score: 40.7. Result ID: 6999e9155698665ec4696bea. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"expert feature distillation":"true","navigation":"target waypoint"}. This record does not assert independent reproduction. Page 1 of 1. This is an index page, not the full collection.