Autonomous Driving on OpenScene

Metric: PDMS (higher is better)

LeaderboardDataset

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Results

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#	Model↕	PDMS▼	Extra Data	Paper	Date↕	Code
1	DriveSuprim	93.5	No	-	-	-
2	DiffE2E	92.7	No	-	-	-
3	Centaur	92.6	No	Centaur: Robust End-to-End Autonomous Driving wi...	2025-03-14	-
4	iPad	91.7	No	iPad: Iterative Proposal-centric End-to-End Auto...	2025-05-21	Code
5	R2SE	91.6	No	-	-	-
6	Hydra-MDP-C	91	No	Hydra-MDP: End-to-end Multimodal Planning with M...	2024-06-11	Code
7	Hydra-MDP++	91	No	Hydra-MDP: End-to-end Multimodal Planning with M...	2024-06-11	Code
8	GoalFlow	90.3	No	GoalFlow: Goal-Driven Flow Matching for Multimod...	2025-03-07	Code
9	ReCogDrive	89.6	No	ReCogDrive: A Reinforced Cognitive Framework for...	2025-06-09	-
10	GaussianFusion	88.8	No	GaussianFusion: Gaussian-Based Multi-Sensor Fusi...	2025-05-27	-
11	Hydra-NeXt	88.6	No	Hydra-NeXt: Robust Closed-Loop Driving with Open...	2025-03-15	Code
12	WoTE	88.3	No	End-to-End Driving with Online Trajectory Evalua...	2025-04-02	Code
13	DiffusionDrive	88.1	No	DiffusionDrive: Truncated Diffusion Model for En...	2024-11-22	Code
14	ARTEMIS	87	No	-	-	-
15	ReSim	86.6	No	ReSim: Reliable World Simulation for Autonomous ...	2025-06-11	-
16	Epona	86.2	No	-	-	-
17	DRAMA	85.5	No	-	-	-
18	World4Drive	85.1	No	-	-	-
19	LAW	84.6	No	Enhancing End-to-End Autonomous Driving with Lat...	2024-06-12	Code
20	TransFuser	84	No	TransFuser: Imitation with Transformer-Based Sen...	2022-05-31	Code
21	PARA-Drive	84	No	-	-	-
22	Latent TransFuser	83.8	No	TransFuser: Imitation with Transformer-Based Sen...	2022-05-31	Code
23	UniAD	83.4	No	Planning-oriented Autonomous Driving	2022-12-20	Code
24	InternVL3	83.3	No	ReCogDrive: A Reinforced Cognitive Framework for...	2025-06-09	-
25	QwenVL2.5	83.3	No	ReCogDrive: A Reinforced Cognitive Framework for...	2025-06-09	-
26	DrivingGPT	82.4	No	DrivingGPT: Unifying Driving World Modeling and ...	2024-12-24	-
27	VAD-v2	80.9	No	VADv2: End-to-End Vectorized Autonomous Driving ...	2024-02-20	Code
28	Ego Status MLP	65.6	No	NAVSIM: Data-Driven Non-Reactive Autonomous Vehi...	2024-06-21	Code
29	Constant Velocity	20.6	No	NAVSIM: Data-Driven Non-Reactive Autonomous Vehi...	2024-06-21	Code

#1DriveSuprim
93.5
PDMS
No paper
#2DiffE2E
92.7
PDMS
No paper
#3CentaurSOTA
92.6
PDMS· 2025-03-14
Centaur: Robust End-to-End Autonomous Driving with Test-Time Training
#4iPad
91.7
PDMS· 2025-05-21
iPad: Iterative Proposal-centric End-to-End Autonomous Driving Code
#5R2SE
91.6
PDMS
No paper
#6Hydra-MDP-CSOTA
91
PDMS· 2024-06-11
Hydra-MDP: End-to-end Multimodal Planning with Multi-target Hydra-Distillation Code
#7Hydra-MDP++
91
PDMS· 2024-06-11
Hydra-MDP: End-to-end Multimodal Planning with Multi-target Hydra-Distillation Code
#8GoalFlow
90.3
PDMS· 2025-03-07
GoalFlow: Goal-Driven Flow Matching for Multimodal Trajectories Generation in End-to-End Autonomous Driving Code
#9ReCogDrive
89.6
PDMS· 2025-06-09
ReCogDrive: A Reinforced Cognitive Framework for End-to-End Autonomous Driving
#10GaussianFusion
88.8
PDMS· 2025-05-27
GaussianFusion: Gaussian-Based Multi-Sensor Fusion for End-to-End Autonomous Driving
#11Hydra-NeXt
88.6
PDMS· 2025-03-15
Hydra-NeXt: Robust Closed-Loop Driving with Open-Loop Training Code
#12WoTE
88.3
PDMS· 2025-04-02
End-to-End Driving with Online Trajectory Evaluation via BEV World Model Code
#13DiffusionDrive
88.1
PDMS· 2024-11-22
DiffusionDrive: Truncated Diffusion Model for End-to-End Autonomous Driving Code
#14ARTEMIS
87
PDMS
No paper
#15ReSim
86.6
PDMS· 2025-06-11
ReSim: Reliable World Simulation for Autonomous Driving
#16Epona
86.2
PDMS
No paper
#17DRAMA
85.5
PDMS
No paper
#18World4Drive
85.1
PDMS
No paper
#19LAW
84.6
PDMS· 2024-06-12
Enhancing End-to-End Autonomous Driving with Latent World Model Code
#20TransFuserSOTA
84
PDMS· 2022-05-31
TransFuser: Imitation with Transformer-Based Sensor Fusion for Autonomous Driving Code
#21PARA-Drive
84
PDMS
No paper
#22Latent TransFuser
83.8
PDMS· 2022-05-31
TransFuser: Imitation with Transformer-Based Sensor Fusion for Autonomous Driving Code
#23UniAD
83.4
PDMS· 2022-12-20
Planning-oriented Autonomous Driving Code
#24InternVL3
83.3
PDMS· 2025-06-09
ReCogDrive: A Reinforced Cognitive Framework for End-to-End Autonomous Driving
#25QwenVL2.5
83.3
PDMS· 2025-06-09
ReCogDrive: A Reinforced Cognitive Framework for End-to-End Autonomous Driving
#26DrivingGPT
82.4
PDMS· 2024-12-24
DrivingGPT: Unifying Driving World Modeling and Planning with Multi-modal Autoregressive Transformers
#27VAD-v2
80.9
PDMS· 2024-02-20
VADv2: End-to-End Vectorized Autonomous Driving via Probabilistic Planning Code
#28Ego Status MLP
65.6
PDMS· 2024-06-21
NAVSIM: Data-Driven Non-Reactive Autonomous Vehicle Simulation and Benchmarking Code
#29Constant Velocity
20.6
PDMS· 2024-06-21
NAVSIM: Data-Driven Non-Reactive Autonomous Vehicle Simulation and Benchmarking Code