End-to-End Autonomous Driving on Bench2Drive standard base set (1K clips)
85.9Driving Score (DS)SimLingo†
Evaluation results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| SimLingo†Condition=NC, Modality=C, Latency (ms)=41392026.04 | 85.9 | 66.8 | 244.2 | 25.5 | — | |
| Orion-LiteCondition=NC, Modality=C, Latency (ms)=2672026.04 | 80.6 | 55.5 | 157.7 | 10.3 | — | |
| UniDrive-WMCondition=NC, Modality=C2026.04 | 79.2 | 56.4 | 158.4 | 28 | — | |
| MindDriveCondition=NC, Modality=C, Latency (ms)=3772026.04 | 78 | 55.1 | — | — | — | |
| ORION (7B Teacher)Condition=NC, Modality=C, Latency (ms)=8062026.04 | 77.7 | 54.6 | 151.5 | 17.4 | — | |
| ORION (0.5B)Condition=NC, Modality=C2026.04 | 72.9 | 45.8 | — | — | — | |
| DriveAdapter*Condition=TP, Modality=C&L, Latency (ms)=9312026.04 | 64.2 | 33.1 | 70.2 | 16 | — | |
| DriveTransformer-LargeCondition=NC, Modality=C, Latency (ms)=2122026.04 | 63.5 | 35 | 100.6 | 20.8 | — | |
| ThinkTwice*Condition=TP, Modality=C, Latency (ms)=7622026.04 | 62.4 | 31.2 | 69.3 | 16.2 | — | |
| TCP-traj*Condition=TP, Modality=C, Latency (ms)=832026.04 | 59.9 | 30 | 76.5 | 18.1 | — | |
| TCP-traj w/o distillationCondition=TP, Modality=C, Latency (ms)=832026.04 | 49.3 | 20.5 | 78.8 | 23 | — | |
| UniAD-BaseCondition=NC, Modality=C, Latency (ms)=6632026.04 | 45.8 | 16.4 | 129.2 | 43.6 | — | |
| GenADCondition=NC, Modality=C, Latency (ms)=1212026.04 | 44.8 | 15.9 | — | — | — | |
| MomADCondition=NC, Modality=C, Latency (ms)=2422026.04 | 44.5 | 16.7 | 170.2 | 48.6 | — | |
| VADCondition=NC, Modality=C, Latency (ms)=2782026.04 | 42.4 | 15 | 157.9 | 46 | — | |
| TCP*Condition=TP, Modality=C, Latency (ms)=832026.04 | 40.7 | 15 | 54.3 | 47.8 | — | |
| UniAD-TinyCondition=NC, Modality=C, Latency (ms)=4202026.04 | 40.7 | 13.2 | 123.9 | 47 | — | |
| TCP-ctrl*Condition=TP, Modality=C, Latency (ms)=832026.04 | 30.5 | 7.3 | 56 | 51.5 | — | |
| AD-MLPCondition=NC, Modality=C, Latency (ms)=32026.04 | 18.1 | 0 | 48.5 | 22.6 | — | |
| AD-MLPCondition=NC, Modality=C, Latency (ms)=32026.04 | — | — | — | — | 3.64 | |
| DriveAdapter*Condition=TP, Modality=C&L, Latency (ms)=9312026.04 | — | — | — | — | 1.01 | |
| DriveTransformer-LargeCondition=NC, Modality=C, Latency (ms)=2122026.04 | — | — | — | — | 0.62 | |
| MomADCondition=NC, Modality=C, Latency (ms)=2422026.04 | — | — | — | — | 0.87 | |
| ORION (7B Teacher)Condition=NC, Modality=C, Latency (ms)=8062026.04 | — | — | — | — | 0.68 | |
| Orion-LiteCondition=NC, Modality=C, Latency (ms)=2672026.04 | — | — | — | — | 0.79 | |
| TCP-traj w/o distillationCondition=TP, Modality=C, Latency (ms)=832026.04 | — | — | — | — | 1.96 | |
| TCP-traj*Condition=TP, Modality=C, Latency (ms)=832026.04 | — | — | — | — | 1.7 | |
| TCP*Condition=TP, Modality=C, Latency (ms)=832026.04 | — | — | — | — | 1.7 | |
| ThinkTwice*Condition=TP, Modality=C, Latency (ms)=7622026.04 | — | — | — | — | 0.95 | |
| UniAD-BaseCondition=NC, Modality=C, Latency (ms)=6632026.04 | — | — | — | — | 0.73 | |
| UniAD-TinyCondition=NC, Modality=C, Latency (ms)=4202026.04 | — | — | — | — | 0.8 | |
| UniDrive-WMCondition=NC, Modality=C2026.04 | — | — | — | — | 0.64 | |
| VADCondition=NC, Modality=C, Latency (ms)=2782026.04 | — | — | — | — | 0.91 |