# End-to-End Autonomous Driving on Bench2Drive Open-loop Source: [End-to-End Autonomous Driving on Bench2Drive Open-loop]() Collection index: [llms.txt]() Data updated: 2026-06-05T08:10:37.874Z Evaluation of End-to-End Autonomous Driving performance on the Bench2Drive dataset specifically using the Open-loop testing environment, focusing on trajectory error metrics. 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 Open-loop | | Metric | Avg L2 Error (m) | | Unit | SCALAR | | Direction | Lower is better | | Results loaded | 17 of 17 | | 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 - [Avg L2 Error (m)](): Lower is better; unit: SCALAR. ## Recorded results | Method | Avg L2 Error (m) | Result date | Report paper | | --- | --- | --- | --- | | RoCA (ORION) | 0.57 | Not recorded | 68fa797c1e209131cea7dc4e | | DriveTransformer-Large | 0.62 | Not recorded | 6948d05e423ea42265729da5 | | DriveTransformer-L | 0.62 | Not recorded | 68fa797c1e209131cea7dc4e | | ORION | 0.68 | Not recorded | 68fa797c1e209131cea7dc4e | | RoCA (SSR) | 0.69 | Not recorded | 68fa797c1e209131cea7dc4e | | UniAD | 0.73 | Not recorded | 6948d05e423ea42265729da5 | | RoCA (VAD) | 0.74 | Not recorded | 68fa797c1e209131cea7dc4e | | MomAD | 0.82 | Not recorded | 6948d05e423ea42265729da5 | | SparseDrive-S | 0.83 | Not recorded | 68fa797c1e209131cea7dc4e | | SSR | 0.86 | Not recorded | 68fa797c1e209131cea7dc4e | | TakeAD | 0.87 | Not recorded | 6948d05e423ea42265729da5 | | VAD | 0.91 | Not recorded | 6948d05e423ea42265729da5 | | TakeAD | 0.91 | Not recorded | 6948d05e423ea42265729da5 | | VAD | 0.91 | Not recorded | 68fa797c1e209131cea7dc4e | | ThinkTwice | 0.95 | Not recorded | 6948d05e423ea42265729da5 | | DriveAdapter | 1.01 | Not recorded | 6948d05e423ea42265729da5 | | TCP | 1.7 | Not recorded | 6948d05e423ea42265729da5 | ### RoCA (ORION) Avg L2 Error (m): 0.57. Result ID: 6a22847cfbc373592c206585. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Base Architecture":"ORION"}. This record does not assert independent reproduction. ### DriveTransformer-Large Avg L2 Error (m): 0.62. Result ID: 6999e9155698665ec4696bfa. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"navigation":"one-hot commands"}. This record does not assert independent reproduction. ### DriveTransformer-L Avg L2 Error (m): 0.62. Result ID: 6a22847cfbc373592c206581. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Model Scale Configuration":"large"}. This record does not assert independent reproduction. ### ORION Avg L2 Error (m): 0.68. Result ID: 6a22847cfbc373592c206582. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### RoCA (SSR) Avg L2 Error (m): 0.69. Result ID: 6a22847cfbc373592c206584. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Base Architecture":"SSR"}. This record does not assert independent reproduction. ### UniAD Avg L2 Error (m): 0.73. Result ID: 6999e9155698665ec4696bf7. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"navigation":"one-hot commands"}. This record does not assert independent reproduction. ### RoCA (VAD) Avg L2 Error (m): 0.74. Result ID: 6a22847cfbc373592c206583. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Base Architecture":"VAD"}. This record does not assert independent reproduction. ### MomAD Avg L2 Error (m): 0.82. Result ID: 6999e9155698665ec4696bf9. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"navigation":"one-hot commands"}. This record does not assert independent reproduction. ### SparseDrive-S Avg L2 Error (m): 0.83. Result ID: 6a22847cfbc373592c206580. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Model Scale Configuration":"small"}. This record does not assert independent reproduction. ### SSR Avg L2 Error (m): 0.86. Result ID: 6a22847cfbc373592c20657f. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### TakeAD Avg L2 Error (m): 0.87. Result ID: 6999e9155698665ec4696bfb. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"post-optimization":"false"}. This record does not assert independent reproduction. ### VAD Avg L2 Error (m): 0.91. Result ID: 6999e9155698665ec4696bf8. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"navigation":"one-hot commands"}. This record does not assert independent reproduction. ### TakeAD Avg L2 Error (m): 0.91. Result ID: 6999e9155698665ec4696bfc. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"post-optimization":"true"}. This record does not assert independent reproduction. ### VAD Avg L2 Error (m): 0.91. Result ID: 6a22847cfbc373592c20657e. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### ThinkTwice Avg L2 Error (m): 0.95. Result ID: 6999e9155698665ec4696bf5. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"expert feature distillation":"true","navigation":"target waypoint"}. This record does not assert independent reproduction. ### DriveAdapter Avg L2 Error (m): 1.01. Result ID: 6999e9155698665ec4696bf6. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"expert feature distillation":"true","navigation":"target waypoint"}. This record does not assert independent reproduction. ### TCP Avg L2 Error (m): 1.7. Result ID: 6999e9155698665ec4696bf4. [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.