Autonomous Vehicles on CARLA Leaderboard

Metric: Infraction penalty (higher is better)

LeaderboardDataset

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#	Model↕	Infraction penalty▼	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

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