End-to-end Driving on CARLA Bench2Drive v1 (test)
97Driving ScorePDM-Lite
Evaluation results
| Method | Links | ||
|---|---|---|---|
| PDM-Lite2025.12 | 97 | 92.3 | |
| LEAD2025.12 | 96.8 | 96.6 | |
| TFv6Backbone=RegNetY-032, Cameras=3x, LiDAR=true, Radar=true2025.12 | 95.2 | 86.8 | |
| TFv6Backbone=ResNet-34, Cameras=6x, LiDAR=true, Radar=true2025.12 | 95 | 84.3 | |
| TFv6Backbone=ResNet-34, Cameras=6x, LiDAR=true, Radar=false2025.12 | 94.7 | 85.6 | |
| TFv6Backbone=ResNet-34, Cameras=3x, LiDAR=true, Radar=true2025.12 | 94.7 | 82.1 | |
| TFv6Backbone=ResNet-34, Cameras=6x, LiDAR=false, Radar=true2025.12 | 94.2 | 85.3 | |
| TFv6Backbone=ResNet-34, Cameras=6x, LiDAR=false, Radar=false2025.12 | 91.6 | 79.5 | |
| HiP-ADBackbone=ResNet-50, Cameras=6x, LiDAR=false, Radar=false2025.12 | 86.8 | 69.1 | |
| SimLingoBackbone=InternViT-300M, Cameras=1x, LiDAR=false, Radar=false2025.12 | 85.1 | 67.2 | |
| TFv5Backbone=RegNetY-032, Cameras=1x, LiDAR=true, Radar=false2025.12 | 83.5 | 67.3 |