CARLA longest6 on CARLA

Metric: Route Completion (higher is better)

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#	Model↕	Route Completion▼	Extra Data	Paper	Date↕	Code
1	TransFuser++ WP (TF++WP)	97	No	Hidden Biases of End-to-End Driving Models	2023-06-13	Code
2	DiffE2E	96	No	-	-	-
3	Latent TransFuser (LTF)	95	No	TransFuser: Imitation with Transformer-Based Sen...	2022-05-31	Code
4	TransFuser++ (TF++)	94	No	Hidden Biases of End-to-End Driving Models	2023-06-13	Code
5	TransFuser (TF)	93	No	TransFuser: Imitation with Transformer-Based Sen...	2022-05-31	Code
6	DriveGPT4-V2	91	No	-	-	-
7	Geometric Fusion (GF)	91	No	TransFuser: Imitation with Transformer-Based Sen...	2022-05-31	Code
8	EnDfuser + safety-rule	90	No	Using Diffusion Ensembles to Estimate Uncertaint...	2025-05-31	-
9	DriveAdapter+TCP	88	No	DriveAdapter: Breaking the Coupling Barrier of P...	2023-08-01	Code
10	Perception PlanT	88	No	PlanT: Explainable Planning Transformers via Obj...	2022-10-25	Code
11	InteractionNet	87	No	InteractionNet: Joint Planning and Prediction fo...	2023-09-07	Code
12	Learning from all Vehicle v2 (LAV v2)	83	No	Learning from All Vehicles	2022-03-22	Code
13	Late Fusion (LF)	83	No	TransFuser: Imitation with Transformer-Based Sen...	2022-05-31	Code
14	DriveAdapter	82	No	DriveAdapter: Breaking the Coupling Barrier of P...	2023-08-01	Code
15	Coaching a Teachable Student (CaT)	79	No	Coaching a Teachable Student	2023-06-16	Code
16	ThinkTwice	77	No	Think Twice before Driving: Towards Scalable Dec...	2023-05-10	Code
17	Interfuser	74	No	Safety-Enhanced Autonomous Driving Using Interpr...	2022-07-28	Code
18	Trajectory-guided Control Prediction (TCP)	72	No	Trajectory-guided Control Prediction for End-to-...	2022-06-16	Code
19	Learning from all Vehicles v1 (LAV v1)	70	No	Learning from All Vehicles	2022-03-22	Code
20	Neural Attention Fields (NEAT)	62	No	NEAT: Neural Attention Fields for End-to-End Aut...	2021-09-09	Code
21	World on Rails (WOR)	48	No	Learning to drive from a world on rails	2021-05-03	Code

#1TransFuser++ WP (TF++WP)SOTA
97
Route Completion· 2023-06-13
Hidden Biases of End-to-End Driving Models Code
#2DiffE2E
96
Route Completion
No paper
#3Latent TransFuser (LTF)SOTA
95
Route Completion· 2022-05-31
TransFuser: Imitation with Transformer-Based Sensor Fusion for Autonomous Driving Code
#4TransFuser++ (TF++)
94
Route Completion· 2023-06-13
Hidden Biases of End-to-End Driving Models Code
#5TransFuser (TF)
93
Route Completion· 2022-05-31
TransFuser: Imitation with Transformer-Based Sensor Fusion for Autonomous Driving Code
#6DriveGPT4-V2
91
Route Completion
No paper
#7Geometric Fusion (GF)
91
Route Completion· 2022-05-31
TransFuser: Imitation with Transformer-Based Sensor Fusion for Autonomous Driving Code
#8EnDfuser + safety-rule
90
Route Completion· 2025-05-31
Using Diffusion Ensembles to Estimate Uncertainty for End-to-End Autonomous Driving
#9DriveAdapter+TCP
88
Route Completion· 2023-08-01
DriveAdapter: Breaking the Coupling Barrier of Perception and Planning in End-to-End Autonomous Driving Code
#10Perception PlanT
88
Route Completion· 2022-10-25
PlanT: Explainable Planning Transformers via Object-Level Representations Code
#11InteractionNet
87
Route Completion· 2023-09-07
InteractionNet: Joint Planning and Prediction for Autonomous Driving with Transformers Code
#12Learning from all Vehicle v2 (LAV v2)SOTA
83
Route Completion· 2022-03-22
Learning from All Vehicles Code
#13Late Fusion (LF)
83
Route Completion· 2022-05-31
TransFuser: Imitation with Transformer-Based Sensor Fusion for Autonomous Driving Code
#14DriveAdapter
82
Route Completion· 2023-08-01
DriveAdapter: Breaking the Coupling Barrier of Perception and Planning in End-to-End Autonomous Driving Code
#15Coaching a Teachable Student (CaT)
79
Route Completion· 2023-06-16
Coaching a Teachable Student Code
#16ThinkTwice
77
Route Completion· 2023-05-10
Think Twice before Driving: Towards Scalable Decoders for End-to-End Autonomous Driving Code
#17Interfuser
74
Route Completion· 2022-07-28
Safety-Enhanced Autonomous Driving Using Interpretable Sensor Fusion Transformer Code
#18Trajectory-guided Control Prediction (TCP)
72
Route Completion· 2022-06-16
Trajectory-guided Control Prediction for End-to-end Autonomous Driving: A Simple yet Strong Baseline Code
#19Learning from all Vehicles v1 (LAV v1)
70
Route Completion· 2022-03-22
Learning from All Vehicles Code
#20Neural Attention Fields (NEAT)SOTA
62
Route Completion· 2021-09-09
NEAT: Neural Attention Fields for End-to-End Autonomous Driving Code
#21World on Rails (WOR)SOTA
48
Route Completion· 2021-05-03
Learning to drive from a world on rails Code