End-to-end driving on AV NuRec
63Driving ScoreRoaD
Evaluation results
| Method | Links | ||||
|---|---|---|---|---|---|
| RoaDTraining Mode=Fine-tuning2025.12 | 63 | 2.39 | 20.98 | 147.2 | |
| Re-rendered expert trajectoriesTraining Mode=Fine-tuning2025.12 | 49.85 | 4.64 | 25.83 | 151.9 | |
| BCTraining Mode=Base model pre-trained2025.12 | 44.43 | 5.25 | 28.33 | 149 | |
| BCTraining Mode=Continued large-scale training2025.12 | 42.15 | 6.27 | 27.83 | 143.7 |