# End-to-End Autonomous Driving on Bench2Drive standard base set (1K clips) Source: [End-to-End Autonomous Driving on Bench2Drive standard base set (1K clips)]() Collection index: [llms.txt]() Data updated: 2026-04-10T09:22:05.437Z Evaluation of End-to-End Autonomous Driving performance specifically on the 1,000 clip standard base set of Bench2Drive, reporting on 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 standard base set (1K clips) | | Metric | Driving Score (DS) | | Unit | SCALAR | | Direction | Higher is better | | Results loaded | 33 of 33 | | 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 (DS)](): Higher is better; unit: SCALAR. - [Success Rate (SR)](): Higher is better; unit: PERCENT. - [Efficiency](): Higher is better; unit: SCALAR. - [Comfortness](): Higher is better; unit: SCALAR. - [Average L2 Error](): Lower is better; unit: SCALAR. ## Recorded results | Method | Driving Score (DS) | Result date | Report paper | | --- | --- | --- | --- | | SimLingo† | 85.9 | Not recorded | 69d884357d0172140ec77b9f | | Orion-Lite | 80.6 | Not recorded | 69d884357d0172140ec77b9f | | UniDrive-WM | 79.2 | Not recorded | 69d884357d0172140ec77b9f | | MindDrive | 78 | Not recorded | 69d884357d0172140ec77b9f | | ORION (7B Teacher) | 77.7 | Not recorded | 69d884357d0172140ec77b9f | | ORION (0.5B) | 72.9 | Not recorded | 69d884357d0172140ec77b9f | | DriveAdapter\* | 64.2 | Not recorded | 69d884357d0172140ec77b9f | | DriveTransformer-Large | 63.5 | Not recorded | 69d884357d0172140ec77b9f | | ThinkTwice\* | 62.4 | Not recorded | 69d884357d0172140ec77b9f | | TCP-traj\* | 59.9 | Not recorded | 69d884357d0172140ec77b9f | | TCP-traj w/o distillation | 49.3 | Not recorded | 69d884357d0172140ec77b9f | | UniAD-Base | 45.8 | Not recorded | 69d884357d0172140ec77b9f | | GenAD | 44.8 | Not recorded | 69d884357d0172140ec77b9f | | MomAD | 44.5 | Not recorded | 69d884357d0172140ec77b9f | | VAD | 42.4 | Not recorded | 69d884357d0172140ec77b9f | | TCP\* | 40.7 | Not recorded | 69d884357d0172140ec77b9f | | UniAD-Tiny | 40.7 | Not recorded | 69d884357d0172140ec77b9f | | TCP-ctrl\* | 30.5 | Not recorded | 69d884357d0172140ec77b9f | | AD-MLP | 18.1 | Not recorded | 69d884357d0172140ec77b9f | ### SimLingo† Driving Score (DS): 85.9. Result ID: 69d8c13547f34ce924c1eaa9. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Condition":"NC","Modality":"C","Latency (ms)":"4139"}. This record does not assert independent reproduction. ### Orion-Lite Driving Score (DS): 80.6. Result ID: 69d8c13547f34ce924c1eaac. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Condition":"NC","Modality":"C","Latency (ms)":"267"}. This record does not assert independent reproduction. ### UniDrive-WM Driving Score (DS): 79.2. Result ID: 69d8c13547f34ce924c1eaa8. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Condition":"NC","Modality":"C"}. This record does not assert independent reproduction. ### MindDrive Driving Score (DS): 78. Result ID: 69d8c13547f34ce924c1eaa7. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Condition":"NC","Modality":"C","Latency (ms)":"377"}. This record does not assert independent reproduction. ### ORION (7B Teacher) Driving Score (DS): 77.7. Result ID: 69d8c13547f34ce924c1eaab. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Condition":"NC","Modality":"C","Latency (ms)":"806"}. This record does not assert independent reproduction. ### ORION (0.5B) Driving Score (DS): 72.9. Result ID: 69d8c13547f34ce924c1eaaa. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Condition":"NC","Modality":"C"}. This record does not assert independent reproduction. ### DriveAdapter\* Driving Score (DS): 64.2. Result ID: 69d8c13547f34ce924c1ea9f. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Condition":"TP","Modality":"C&L","Latency (ms)":"931"}. This record does not assert independent reproduction. ### DriveTransformer-Large Driving Score (DS): 63.5. Result ID: 69d8c13547f34ce924c1eaa6. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Condition":"NC","Modality":"C","Latency (ms)":"212"}. This record does not assert independent reproduction. ### ThinkTwice\* Driving Score (DS): 62.4. Result ID: 69d8c13547f34ce924c1ea9e. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Condition":"TP","Modality":"C","Latency (ms)":"762"}. This record does not assert independent reproduction. ### TCP-traj\* Driving Score (DS): 59.9. Result ID: 69d8c13547f34ce924c1ea9c. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Condition":"TP","Modality":"C","Latency (ms)":"83"}. This record does not assert independent reproduction. ### TCP-traj w/o distillation Driving Score (DS): 49.3. Result ID: 69d8c13547f34ce924c1ea9d. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Condition":"TP","Modality":"C","Latency (ms)":"83"}. This record does not assert independent reproduction. ### UniAD-Base Driving Score (DS): 45.8. Result ID: 69d8c13547f34ce924c1eaa2. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Condition":"NC","Modality":"C","Latency (ms)":"663"}. This record does not assert independent reproduction. ### GenAD Driving Score (DS): 44.8. Result ID: 69d8c13547f34ce924c1eaa4. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Condition":"NC","Modality":"C","Latency (ms)":"121"}. This record does not assert independent reproduction. ### MomAD Driving Score (DS): 44.5. Result ID: 69d8c13547f34ce924c1eaa5. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Condition":"NC","Modality":"C","Latency (ms)":"242"}. This record does not assert independent reproduction. ### VAD Driving Score (DS): 42.4. Result ID: 69d8c13547f34ce924c1eaa3. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Condition":"NC","Modality":"C","Latency (ms)":"278"}. This record does not assert independent reproduction. ### TCP\* Driving Score (DS): 40.7. Result ID: 69d8c13547f34ce924c1ea9a. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Condition":"TP","Modality":"C","Latency (ms)":"83"}. This record does not assert independent reproduction. ### UniAD-Tiny Driving Score (DS): 40.7. Result ID: 69d8c13547f34ce924c1eaa1. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Condition":"NC","Modality":"C","Latency (ms)":"420"}. This record does not assert independent reproduction. ### TCP-ctrl\* Driving Score (DS): 30.5. Result ID: 69d8c13547f34ce924c1ea9b. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Condition":"TP","Modality":"C","Latency (ms)":"83"}. This record does not assert independent reproduction. ### AD-MLP Driving Score (DS): 18.1. Result ID: 69d8c13547f34ce924c1eaa0. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Condition":"NC","Modality":"C","Latency (ms)":"3"}. This record does not assert independent reproduction. Page 1 of 1. This is an index page, not the full collection.