Autonomous Vehicles on Bench2Drive

Metric: Driving Score (higher is better)

LeaderboardDataset

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Results

#	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