Autonomous Vehicles on CARLA Leaderboard

Metric: Driving Score (higher is better)

LeaderboardDataset

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Results

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#	Model↕	Driving Score▼	Extra Data	Paper	Date↕	Code
1	ReasonNet	79.95	No	ReasonNet: End-to-End Driving with Temporal and ...	2023-05-17	-
2	InterFuser	76.18	No	Safety-Enhanced Autonomous Driving Using Interpr...	2022-07-28	Code
3	TCP	75.14	No	Trajectory-guided Control Prediction for End-to-...	2022-06-16	Code
4	TF++ WP	66.32	No	Hidden Biases of End-to-End Driving Models	2023-06-13	Code
5	Learning From All Vehicles (LAV)	61.846	No	Learning from All Vehicles	2022-03-22	Code
6	TransFuser	61.181	No	TransFuser: Imitation with Transformer-Based Sen...	2022-05-31	Code
7	TransFuser (Reproduced)	55.04	No	TransFuser: Imitation with Transformer-Based Sen...	2022-05-31	Code
8	TCP (Reproduced)	47.91	No	Trajectory-guided Control Prediction for End-to-...	2022-06-16	Code
9	Latent TransFuser	45.2	No	TransFuser: Imitation with Transformer-Based Sen...	2022-05-31	Code
10	GRIAD	36.79	No	GRI: General Reinforced Imitation and its Applic...	2021-11-16	-
11	Transfuser+	34.58	No	-	-	-
12	InterFuser (Reproduced)	34.15	No	Safety-Enhanced Autonomous Driving Using Interpr...	2022-07-28	Code
13	World on Rails	31.37	No	Learning to drive from a world on rails	2021-05-03	Code
14	MaRLn	24.98	No	End-to-End Model-Free Reinforcement Learning for...	2019-11-25	Code
15	NEAT	21.83	No	NEAT: Neural Attention Fields for End-to-End Aut...	2021-09-09	Code
16	Transfuser	16.93	No	Multi-Modal Fusion Transformer for End-to-End Au...	2021-04-19	Code
17	LBC	8.94	No	Learning by Cheating	2019-12-27	Code
18	CILRS	5.37	No	Exploring the Limitations of Behavior Cloning fo...	2019-04-18	Code

#1ReasonNetSOTA
79.95
Driving Score· 2023-05-17
ReasonNet: End-to-End Driving with Temporal and Global Reasoning
#2InterFuserSOTA
76.18
Driving Score· 2022-07-28
Safety-Enhanced Autonomous Driving Using Interpretable Sensor Fusion Transformer Code
#3TCPSOTA
75.14
Driving Score· 2022-06-16
Trajectory-guided Control Prediction for End-to-end Autonomous Driving: A Simple yet Strong Baseline Code
#4TF++ WP
66.32
Driving Score· 2023-06-13
Hidden Biases of End-to-End Driving Models Code
#5Learning From All Vehicles (LAV)SOTA
61.846
Driving Score· 2022-03-22
Learning from All Vehicles Code
#6TransFuser
61.181
Driving Score· 2022-05-31
TransFuser: Imitation with Transformer-Based Sensor Fusion for Autonomous Driving Code
#7TransFuser (Reproduced)
55.04
Driving Score· 2022-05-31
TransFuser: Imitation with Transformer-Based Sensor Fusion for Autonomous Driving Code
#8TCP (Reproduced)
47.91
Driving Score· 2022-06-16
Trajectory-guided Control Prediction for End-to-end Autonomous Driving: A Simple yet Strong Baseline Code
#9Latent TransFuser
45.2
Driving Score· 2022-05-31
TransFuser: Imitation with Transformer-Based Sensor Fusion for Autonomous Driving Code
#10GRIADSOTA
36.79
Driving Score· 2021-11-16
GRI: General Reinforced Imitation and its Application to Vision-Based Autonomous Driving
#11Transfuser+
34.58
Driving Score
No paper
#12InterFuser (Reproduced)
34.15
Driving Score· 2022-07-28
Safety-Enhanced Autonomous Driving Using Interpretable Sensor Fusion Transformer Code
#13World on RailsSOTA
31.37
Driving Score· 2021-05-03
Learning to drive from a world on rails Code
#14MaRLnSOTA
24.98
Driving Score· 2019-11-25
End-to-End Model-Free Reinforcement Learning for Urban Driving using Implicit Affordances Code
#15NEAT
21.83
Driving Score· 2021-09-09
NEAT: Neural Attention Fields for End-to-End Autonomous Driving Code
#16Transfuser
16.93
Driving Score· 2021-04-19
Multi-Modal Fusion Transformer for End-to-End Autonomous Driving Code
#17LBC
8.94
Driving Score· 2019-12-27
Learning by Cheating Code
#18CILRSSOTA
5.37
Driving Score· 2019-04-18
Exploring the Limitations of Behavior Cloning for Autonomous Driving Code