End-to-end Motion Planning on Bench2Drive CARLA
0.67L2 Error (1s)UNIVERSE
Evaluation results
| Method | Links | ||||||||
|---|---|---|---|---|---|---|---|---|---|
| UNIVERSEFinetune=False, Zero-shot=True2026.07 | 0.67 | 1.29 | 2.03 | 1.33 | 0.75 | 1.12 | 1.7 | 1.19 | |
| DriveVAFinetune=✗, Protocol=Zero-shot2026.04 | 0.69 | 1.29 | 2.03 | 1.33 | 1.38 | 1.97 | 2.65 | 1.79 | |
| UNIVERSE w.o. MaskFinetune=False, Zero-shot=True2026.07 | 0.69 | 1.29 | 2.03 | 1.34 | 1.38 | 1.97 | 2.65 | 1.79 | |
| UNIVERSE w.o. video co-trainFinetune=False, Zero-shot=True2026.07 | 0.75 | 1.38 | 2.15 | 1.43 | 1.07 | 1.47 | 2.16 | 1.57 | |
| UNIVERSE Two-DiTFinetune=False, Zero-shot=True2026.07 | 0.8 | 1.39 | 2.11 | 1.43 | 1.3 | 1.83 | 2.32 | 1.82 | |
| DriveVLA-W0Finetune=✗, Protocol=Zero-shot, Venue=ICLR’262026.04 | 1.01 | 2.77 | 5.22 | 3 | 1.49 | 2.53 | 3.53 | 2.52 | |
| DriveVLA-W0Finetune=False, Zero-shot=True2026.07 | 1.01 | 2.77 | 5.22 | 3 | 1.49 | 2.53 | 3.53 | 2.52 | |
| PWMFinetune=✗, Protocol=Zero-shot, Venue=NeurIPS’252026.04 | 1.7 | 2.74 | 3.97 | 2.8 | 4.01 | 3.73 | 3.53 | 3.76 | |
| PWMFinetune=False, Zero-shot=True2026.07 | 1.7 | 2.74 | 3.97 | 2.8 | 4.01 | 3.73 | 3.53 | 3.76 |