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CARLA Leaderboard
Autonomous Vehicles on CARLA Leaderboard
Metric: Infraction penalty (higher is better)
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#
Model
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Infraction penalty
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Extra Data
Paper
Date
↕
Code
1
ReasonNet
0.89
No
ReasonNet: End-to-End Driving with Temporal and ...
2023-05-17
-
2
TCP
0.87
No
Trajectory-guided Control Prediction for End-to-...
2022-06-16
Code
3
InterFuser
0.84
No
Safety-Enhanced Autonomous Driving Using Interpr...
2022-07-28
Code
4
TF++ WP
0.84
No
Hidden Biases of End-to-End Driving Models
2023-06-13
Code
5
TCP (Reproduced)
0.77
No
Trajectory-guided Control Prediction for End-to-...
2022-06-16
Code
6
LBC
0.73
No
Learning by Cheating
2019-12-27
Code
7
Latent TransFuser
0.72
No
TransFuser: Imitation with Transformer-Based Sen...
2022-05-31
Code
8
TransFuser
0.714
No
TransFuser: Imitation with Transformer-Based Sen...
2022-05-31
Code
9
NEAT
0.65
No
NEAT: Neural Attention Fields for End-to-End Aut...
2021-09-09
Code
10
Learning From All Vehicles (LAV)
0.64
No
Learning from All Vehicles
2022-03-22
Code
11
TransFuser (Reproduced)
0.63
No
TransFuser: Imitation with Transformer-Based Sen...
2022-05-31
Code
12
GRIAD
0.6
No
GRI: General Reinforced Imitation and its Applic...
2021-11-16
-
13
Transfuser+
0.56
No
-
-
-
14
World on Rails
0.56
No
Learning to drive from a world on rails
2021-05-03
Code
15
CILRS
0.55
No
Exploring the Limitations of Behavior Cloning fo...
2019-04-18
Code
16
MaRLn
0.52
No
End-to-End Model-Free Reinforcement Learning for...
2019-11-25
Code
17
InterFuser (Reproduced)
0.45
No
Safety-Enhanced Autonomous Driving Using Interpr...
2022-07-28
Code
18
Transfuser
0.42
No
Multi-Modal Fusion Transformer for End-to-End Au...
2021-04-19
Code
#1
ReasonNet
SOTA
0.89
Infraction penalty
· 2023-05-17
ReasonNet: End-to-End Driving with Temporal and Global Reasoning
#2
TCP
SOTA
0.87
Infraction penalty
· 2022-06-16
Trajectory-guided Control Prediction for End-to-end Autonomous Driving: A Simple yet Strong Baseline
Code
#3
InterFuser
0.84
Infraction penalty
· 2022-07-28
Safety-Enhanced Autonomous Driving Using Interpretable Sensor Fusion Transformer
Code
#4
TF++ WP
0.84
Infraction penalty
· 2023-06-13
Hidden Biases of End-to-End Driving Models
Code
#5
TCP (Reproduced)
0.77
Infraction penalty
· 2022-06-16
Trajectory-guided Control Prediction for End-to-end Autonomous Driving: A Simple yet Strong Baseline
Code
#6
LBC
SOTA
0.73
Infraction penalty
· 2019-12-27
Learning by Cheating
Code
#7
Latent TransFuser
0.72
Infraction penalty
· 2022-05-31
TransFuser: Imitation with Transformer-Based Sensor Fusion for Autonomous Driving
Code
#8
TransFuser
0.714
Infraction penalty
· 2022-05-31
TransFuser: Imitation with Transformer-Based Sensor Fusion for Autonomous Driving
Code
#9
NEAT
0.65
Infraction penalty
· 2021-09-09
NEAT: Neural Attention Fields for End-to-End Autonomous Driving
Code
#10
Learning From All Vehicles (LAV)
0.64
Infraction penalty
· 2022-03-22
Learning from All Vehicles
Code
#11
TransFuser (Reproduced)
0.63
Infraction penalty
· 2022-05-31
TransFuser: Imitation with Transformer-Based Sensor Fusion for Autonomous Driving
Code
#12
GRIAD
0.6
Infraction penalty
· 2021-11-16
GRI: General Reinforced Imitation and its Application to Vision-Based Autonomous Driving
#13
Transfuser+
0.56
Infraction penalty
No paper
#14
World on Rails
0.56
Infraction penalty
· 2021-05-03
Learning to drive from a world on rails
Code
#15
CILRS
SOTA
0.55
Infraction penalty
· 2019-04-18
Exploring the Limitations of Behavior Cloning for Autonomous Driving
Code
#16
MaRLn
0.52
Infraction penalty
· 2019-11-25
End-to-End Model-Free Reinforcement Learning for Urban Driving using Implicit Affordances
Code
#17
InterFuser (Reproduced)
0.45
Infraction penalty
· 2022-07-28
Safety-Enhanced Autonomous Driving Using Interpretable Sensor Fusion Transformer
Code
#18
Transfuser
0.42
Infraction penalty
· 2021-04-19
Multi-Modal Fusion Transformer for End-to-End Autonomous Driving
Code