CARLA longest6 on CARLA

Metric: Driving Score (higher is better)

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#	Model↕	Driving Score▼	Extra Data	Paper	Date↕	Code
1	DiffE2E	83	No	-	-	-
2	TransFuser++ WP (TF++WP)	73	No	Hidden Biases of End-to-End Driving Models	2023-06-13	Code
3	DriveAdapter+TCP	71	No	DriveAdapter: Breaking the Coupling Barrier of P...	2023-08-01	Code
4	DriveGPT4-V2	70	No	-	-	-
5	EnDfuser + safety-rule	70	No	Using Diffusion Ensembles to Estimate Uncertaint...	2025-05-31	-
6	TransFuser++ (TF++)	69	No	Hidden Biases of End-to-End Driving Models	2023-06-13	Code
7	ThinkTwice	67	No	Think Twice before Driving: Towards Scalable Dec...	2023-05-10	Code
8	DriveAdapter	59	No	DriveAdapter: Breaking the Coupling Barrier of P...	2023-08-01	Code
9	Perception PlanT	58	No	PlanT: Explainable Planning Transformers via Obj...	2022-10-25	Code
10	Learning from all Vehicle v2 (LAV v2)	58	No	Learning from All Vehicles	2022-03-22	Code
11	Coaching a Teachable Student (CaT)	58	No	Coaching a Teachable Student	2023-06-16	Code
12	InteractionNet	51	No	InteractionNet: Joint Planning and Prediction fo...	2023-09-07	Code
13	Trajectory-guided Control Prediction (TCP)	48	No	Trajectory-guided Control Prediction for End-to-...	2022-06-16	Code
14	TransFuser (TF)	47	No	TransFuser: Imitation with Transformer-Based Sen...	2022-05-31	Code
15	Interfuser	47	No	Safety-Enhanced Autonomous Driving Using Interpr...	2022-07-28	Code
16	Latent TransFuser (LTF)	37	No	TransFuser: Imitation with Transformer-Based Sen...	2022-05-31	Code
17	Learning from all Vehicles v1 (LAV v1)	33	No	Learning from All Vehicles	2022-03-22	Code
18	Geometric Fusion (GF)	27	No	TransFuser: Imitation with Transformer-Based Sen...	2022-05-31	Code
19	Neural Attention Fields (NEAT)	24	No	NEAT: Neural Attention Fields for End-to-End Aut...	2021-09-09	Code
20	Late Fusion (LF)	22	No	TransFuser: Imitation with Transformer-Based Sen...	2022-05-31	Code
21	World on Rails (WOR)	21	No	Learning to drive from a world on rails	2021-05-03	Code

#1DiffE2E
83
Driving Score
No paper
#2TransFuser++ WP (TF++WP)SOTA
73
Driving Score· 2023-06-13
Hidden Biases of End-to-End Driving Models Code
#3DriveAdapter+TCP
71
Driving Score· 2023-08-01
DriveAdapter: Breaking the Coupling Barrier of Perception and Planning in End-to-End Autonomous Driving Code
#4DriveGPT4-V2
70
Driving Score
No paper
#5EnDfuser + safety-rule
70
Driving Score· 2025-05-31
Using Diffusion Ensembles to Estimate Uncertainty for End-to-End Autonomous Driving
#6TransFuser++ (TF++)
69
Driving Score· 2023-06-13
Hidden Biases of End-to-End Driving Models Code
#7ThinkTwiceSOTA
67
Driving Score· 2023-05-10
Think Twice before Driving: Towards Scalable Decoders for End-to-End Autonomous Driving Code
#8DriveAdapter
59
Driving Score· 2023-08-01
DriveAdapter: Breaking the Coupling Barrier of Perception and Planning in End-to-End Autonomous Driving Code
#9Perception PlanT
58
Driving Score· 2022-10-25
PlanT: Explainable Planning Transformers via Object-Level Representations Code
#10Learning from all Vehicle v2 (LAV v2)SOTA
58
Driving Score· 2022-03-22
Learning from All Vehicles Code
#11Coaching a Teachable Student (CaT)
58
Driving Score· 2023-06-16
Coaching a Teachable Student Code
#12InteractionNet
51
Driving Score· 2023-09-07
InteractionNet: Joint Planning and Prediction for Autonomous Driving with Transformers Code
#13Trajectory-guided Control Prediction (TCP)
48
Driving Score· 2022-06-16
Trajectory-guided Control Prediction for End-to-end Autonomous Driving: A Simple yet Strong Baseline Code
#14TransFuser (TF)
47
Driving Score· 2022-05-31
TransFuser: Imitation with Transformer-Based Sensor Fusion for Autonomous Driving Code
#15Interfuser
47
Driving Score· 2022-07-28
Safety-Enhanced Autonomous Driving Using Interpretable Sensor Fusion Transformer Code
#16Latent TransFuser (LTF)
37
Driving Score· 2022-05-31
TransFuser: Imitation with Transformer-Based Sensor Fusion for Autonomous Driving Code
#17Learning from all Vehicles v1 (LAV v1)
33
Driving Score· 2022-03-22
Learning from All Vehicles Code
#18Geometric Fusion (GF)
27
Driving Score· 2022-05-31
TransFuser: Imitation with Transformer-Based Sensor Fusion for Autonomous Driving Code
#19Neural Attention Fields (NEAT)SOTA
24
Driving Score· 2021-09-09
NEAT: Neural Attention Fields for End-to-End Autonomous Driving Code
#20Late Fusion (LF)
22
Driving Score· 2022-05-31
TransFuser: Imitation with Transformer-Based Sensor Fusion for Autonomous Driving Code
#21World on Rails (WOR)SOTA
21
Driving Score· 2021-05-03
Learning to drive from a world on rails Code