End-to-End Autonomous Driving on Bench2Drive Open-loop
0.57Avg L2 Error (m)RoCA (ORION)
Evaluation Results
| Method | Links | |
|---|---|---|
| RoCA (ORION)Base Architecture=ORION2025.06 | 0.57 | |
| DriveTransformer-Largenavigation=one-hot commands2025.12 | 0.62 | |
| DriveTransformer-LModel Scale Configuration=large2025.06 | 0.62 | |
| ORION2025.06 | 0.68 | |
| RoCA (SSR)Base Architecture=SSR2025.06 | 0.69 | |
| UniADnavigation=one-hot commands2025.12 | 0.73 | |
| RoCA (VAD)Base Architecture=VAD2025.06 | 0.74 | |
| MomADnavigation=one-hot commands2025.12 | 0.82 | |
| SparseDrive-SModel Scale Configuration=small2025.06 | 0.83 | |
| SSR2025.06 | 0.86 | |
| TakeADpost-optimization=false2025.12 | 0.87 | |
| VADnavigation=one-hot commands2025.12 | 0.91 | |
| TakeADpost-optimization=true2025.12 | 0.91 | |
| VAD2025.06 | 0.91 | |
| ThinkTwiceexpert feature distillation=true, navigation=target waypoint2025.12 | 0.95 | |
| DriveAdapterexpert feature distillation=true, navigation=target waypoint2025.12 | 1.01 | |
| TCPexpert feature distillation=true, navigation=target waypoint2025.12 | 1.7 |