Autonomous Vehicles on Bench2Drive

Metric: Driving Score (higher is better)

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Results

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#	Model↕	Driving Score▼	Extra Data	Paper	Date↕	Code
1	HiP-AD	86.77	No	HiP-AD: Hierarchical and Multi-Granularity Plann...	2025-03-11	Code
2	R2SE	86.28	No	-	-	-
3	SimLingo-Base (CarLLaVa)	85.94	No	CarLLaVA: Vision language models for camera-only...	2024-06-14	Code
4	TransFuser++	84.21	No	Hidden Biases of End-to-End Driving Models	2023-06-13	Code
5	GaussianFusion	79.4	No	GaussianFusion: Gaussian-Based Multi-Sensor Fusi...	2025-05-27	-
6	ORION	77.7	No	ORION: A Holistic End-to-End Autonomous Driving ...	2025-03-25	-
7	Raw2Drive	74.36	No	Raw2Drive: Reinforcement Learning with Aligned W...	2025-05-22	-
8	ETA	74.33	No	-	-	-
9	DriveMoE	74.22	No	DriveMoE: Mixture-of-Experts for Vision-Language...	2025-05-22	-
10	Hydra-NeXt	73.86	No	Hydra-NeXt: Robust Closed-Loop Driving with Open...	2025-03-15	Code
11	VL (on failure)	73.29	No	Validity Learning on Failures: Mitigating the Di...	2024-06-03	-
12	DRIVER	68.9	No	-	-	-
13	DiffAD	67.92	No	DiffAD: A Unified Diffusion Modeling Approach fo...	2025-03-15	-
14	NavigationDrive	67.17	No	-	-	-
15	iPad	65.02	No	iPad: Iterative Proposal-centric End-to-End Auto...	2025-05-21	Code
16	DriveAdapter	64.22	No	DriveAdapter: Breaking the Coupling Barrier of P...	2023-08-01	Code
17	ReasonPlan	64.01	No	ReasonPlan: Unified Scene Prediction and Decisio...	2025-05-26	Code
18	Drivetransformer-Large	63.46	No	DriveTransformer: Unified Transformer for Scalab...	2025-03-07	Code
19	ThinkTwice	62.44	No	Think Twice before Driving: Towards Scalable Dec...	2023-05-10	Code
20	TCP-traj	59.9	No	Trajectory-guided Control Prediction for End-to-...	2022-06-16	Code
21	DiFSD	52.02	No	DiFSD: Ego-Centric Fully Sparse Paradigm with Un...	2024-09-15	Code
22	X-Driver	51.7	No	X-Driver: Explainable Autonomous Driving with Vi...	2025-05-08	-
23	TCP-traj w/o distillation	49.3	No	Trajectory-guided Control Prediction for End-to-...	2022-06-16	Code
24	CogAD	48.3	No	CogAD: Cognitive-Hierarchy Guided End-to-End Aut...	2025-05-27	-
25	MomAD	47.91	No	-	-	-
26	UniAD-Base	45.81	No	Planning-oriented Autonomous Driving	2022-12-20	Code
27	TTOG	45.23	No	Two Tasks, One Goal: Uniting Motion and Planning...	2025-04-17	-
28	GenAD	44.81	No	GenAD: Generative End-to-End Autonomous Driving	2024-02-18	Code
29	SparseDrive	44.54	No	SparseDrive: End-to-End Autonomous Driving via S...	2024-05-30	Code
30	VAD	42.35	No	VAD: Vectorized Scene Representation for Efficie...	2023-03-21	Code
31	UniAD-Tiny	40.73	No	Planning-oriented Autonomous Driving	2022-12-20	Code
32	TCP	40.7	No	Trajectory-guided Control Prediction for End-to-...	2022-06-16	Code
33	VAD + SERA	35.64	No	From Failures to Fixes: LLM-Driven Scenario Repa...	2025-05-28	-
34	TCP-ctrl	30.47	No	Trajectory-guided Control Prediction for End-to-...	2022-06-16	Code
35	AD-MLP	18.05	No	Bench2Drive: Towards Multi-Ability Benchmarking ...	2024-06-06	Code

#1HiP-ADSOTA
86.77
Driving Score· 2025-03-11
HiP-AD: Hierarchical and Multi-Granularity Planning with Deformable Attention for Autonomous Driving in a Single Decoder Code
#2R2SE
86.28
Driving Score
No paper
#3SimLingo-Base (CarLLaVa)SOTA
85.94
Driving Score· 2024-06-14
CarLLaVA: Vision language models for camera-only closed-loop driving Code
#4TransFuser++SOTA
84.21
Driving Score· 2023-06-13
Hidden Biases of End-to-End Driving Models Code
#5GaussianFusion
79.4
Driving Score· 2025-05-27
GaussianFusion: Gaussian-Based Multi-Sensor Fusion for End-to-End Autonomous Driving
#6ORION
77.7
Driving Score· 2025-03-25
ORION: A Holistic End-to-End Autonomous Driving Framework by Vision-Language Instructed Action Generation
#7Raw2Drive
74.36
Driving Score· 2025-05-22
Raw2Drive: Reinforcement Learning with Aligned World Models for End-to-End Autonomous Driving (in CARLA v2)
#8ETA
74.33
Driving Score
No paper
#9DriveMoE
74.22
Driving Score· 2025-05-22
DriveMoE: Mixture-of-Experts for Vision-Language-Action Model in End-to-End Autonomous Driving
#10Hydra-NeXt
73.86
Driving Score· 2025-03-15
Hydra-NeXt: Robust Closed-Loop Driving with Open-Loop Training Code
#11VL (on failure)
73.29
Driving Score· 2024-06-03
Validity Learning on Failures: Mitigating the Distribution Shift in Autonomous Vehicle Planning
#12DRIVER
68.9
Driving Score
No paper
#13DiffAD
67.92
Driving Score· 2025-03-15
DiffAD: A Unified Diffusion Modeling Approach for Autonomous Driving
#14NavigationDrive
67.17
Driving Score
No paper
#15iPad
65.02
Driving Score· 2025-05-21
iPad: Iterative Proposal-centric End-to-End Autonomous Driving Code
#16DriveAdapter
64.22
Driving Score· 2023-08-01
DriveAdapter: Breaking the Coupling Barrier of Perception and Planning in End-to-End Autonomous Driving Code
#17ReasonPlan
64.01
Driving Score· 2025-05-26
ReasonPlan: Unified Scene Prediction and Decision Reasoning for Closed-loop Autonomous Driving Code
#18Drivetransformer-Large
63.46
Driving Score· 2025-03-07
DriveTransformer: Unified Transformer for Scalable End-to-End Autonomous Driving Code
#19ThinkTwiceSOTA
62.44
Driving Score· 2023-05-10
Think Twice before Driving: Towards Scalable Decoders for End-to-End Autonomous Driving Code
#20TCP-trajSOTA
59.9
Driving Score· 2022-06-16
Trajectory-guided Control Prediction for End-to-end Autonomous Driving: A Simple yet Strong Baseline Code
#21DiFSD
52.02
Driving Score· 2024-09-15
DiFSD: Ego-Centric Fully Sparse Paradigm with Uncertainty Denoising and Iterative Refinement for Efficient End-to-End Self-Driving Code
#22X-Driver
51.7
Driving Score· 2025-05-08
X-Driver: Explainable Autonomous Driving with Vision-Language Models
#23TCP-traj w/o distillation
49.3
Driving Score· 2022-06-16
Trajectory-guided Control Prediction for End-to-end Autonomous Driving: A Simple yet Strong Baseline Code
#24CogAD
48.3
Driving Score· 2025-05-27
CogAD: Cognitive-Hierarchy Guided End-to-End Autonomous Driving
#25MomAD
47.91
Driving Score
No paper
#26UniAD-Base
45.81
Driving Score· 2022-12-20
Planning-oriented Autonomous Driving Code
#27TTOG
45.23
Driving Score· 2025-04-17
Two Tasks, One Goal: Uniting Motion and Planning for Excellent End To End Autonomous Driving Performance
#28GenAD
44.81
Driving Score· 2024-02-18
GenAD: Generative End-to-End Autonomous Driving Code
#29SparseDrive
44.54
Driving Score· 2024-05-30
SparseDrive: End-to-End Autonomous Driving via Sparse Scene Representation Code
#30VAD
42.35
Driving Score· 2023-03-21
VAD: Vectorized Scene Representation for Efficient Autonomous Driving Code
#31UniAD-Tiny
40.73
Driving Score· 2022-12-20
Planning-oriented Autonomous Driving Code
#32TCP
40.7
Driving Score· 2022-06-16
Trajectory-guided Control Prediction for End-to-end Autonomous Driving: A Simple yet Strong Baseline Code
#33VAD + SERA
35.64
Driving Score· 2025-05-28
From Failures to Fixes: LLM-Driven Scenario Repair for Self-Evolving Autonomous Driving
#34TCP-ctrl
30.47
Driving Score· 2022-06-16
Trajectory-guided Control Prediction for End-to-end Autonomous Driving: A Simple yet Strong Baseline Code
#35AD-MLP
18.05
Driving Score· 2024-06-06
Bench2Drive: Towards Multi-Ability Benchmarking of Closed-Loop End-To-End Autonomous Driving Code