CARLA longest6 on CARLA

Metric: Infraction Score (higher is better)

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#	Model↕	Infraction Score▼	Extra Data	Paper	Date↕	Code
1	DiffE2E	0.86	No	-	-	-
2	DriveAdapter+TCP	0.85	No	DriveAdapter: Breaking the Coupling Barrier of P...	2023-08-01	Code
3	ThinkTwice	0.84	No	Think Twice before Driving: Towards Scalable Dec...	2023-05-10	Code
4	DriveGPT4-V2	0.77	No	-	-	-
5	Coaching a Teachable Student (CaT)	0.77	No	Coaching a Teachable Student	2023-06-16	Code
6	EnDfuser + safety-rule	0.76	No	Using Diffusion Ensembles to Estimate Uncertaint...	2025-05-31	-
7	TransFuser++ (TF++)	0.72	No	Hidden Biases of End-to-End Driving Models	2023-06-13	Code
8	Neural Attention Fields (NEAT)	0.71	No	NEAT: Neural Attention Fields for End-to-End Aut...	2021-09-09	Code
9	DriveAdapter	0.68	No	DriveAdapter: Breaking the Coupling Barrier of P...	2023-08-01	Code
10	Learning from all Vehicle v2 (LAV v2)	0.68	No	Learning from All Vehicles	2022-03-22	Code
11	Perception PlanT	0.65	No	PlanT: Explainable Planning Transformers via Obj...	2022-10-25	Code
12	Trajectory-guided Control Prediction (TCP)	0.65	No	Trajectory-guided Control Prediction for End-to-...	2022-06-16	Code
13	Interfuser	0.63	No	Safety-Enhanced Autonomous Driving Using Interpr...	2022-07-28	Code
14	InteractionNet	0.6	No	InteractionNet: Joint Planning and Prediction fo...	2023-09-07	Code
15	TransFuser++ WP (TF++WP)	0.56	No	Hidden Biases of End-to-End Driving Models	2023-06-13	Code
16	World on Rails (WOR)	0.56	No	Learning to drive from a world on rails	2021-05-03	Code
17	Learning from all Vehicles v1 (LAV v1)	0.51	No	Learning from All Vehicles	2022-03-22	Code
18	TransFuser (TF)	0.5	No	TransFuser: Imitation with Transformer-Based Sen...	2022-05-31	Code
19	Latent TransFuser (LTF)	0.38	No	TransFuser: Imitation with Transformer-Based Sen...	2022-05-31	Code
20	Geometric Fusion (GF)	0.3	No	TransFuser: Imitation with Transformer-Based Sen...	2022-05-31	Code
21	Late Fusion (LF)	0.27	No	TransFuser: Imitation with Transformer-Based Sen...	2022-05-31	Code

#1DiffE2E
0.86
Infraction Score
No paper
#2DriveAdapter+TCPSOTA
0.85
Infraction Score· 2023-08-01
DriveAdapter: Breaking the Coupling Barrier of Perception and Planning in End-to-End Autonomous Driving Code
#3ThinkTwiceSOTA
0.84
Infraction Score· 2023-05-10
Think Twice before Driving: Towards Scalable Decoders for End-to-End Autonomous Driving Code
#4DriveGPT4-V2
0.77
Infraction Score
No paper
#5Coaching a Teachable Student (CaT)
0.77
Infraction Score· 2023-06-16
Coaching a Teachable Student Code
#6EnDfuser + safety-rule
0.76
Infraction Score· 2025-05-31
Using Diffusion Ensembles to Estimate Uncertainty for End-to-End Autonomous Driving
#7TransFuser++ (TF++)
0.72
Infraction Score· 2023-06-13
Hidden Biases of End-to-End Driving Models Code
#8Neural Attention Fields (NEAT)SOTA
0.71
Infraction Score· 2021-09-09
NEAT: Neural Attention Fields for End-to-End Autonomous Driving Code
#9DriveAdapter
0.68
Infraction Score· 2023-08-01
DriveAdapter: Breaking the Coupling Barrier of Perception and Planning in End-to-End Autonomous Driving Code
#10Learning from all Vehicle v2 (LAV v2)
0.68
Infraction Score· 2022-03-22
Learning from All Vehicles Code
#11Perception PlanT
0.65
Infraction Score· 2022-10-25
PlanT: Explainable Planning Transformers via Object-Level Representations Code
#12Trajectory-guided Control Prediction (TCP)
0.65
Infraction Score· 2022-06-16
Trajectory-guided Control Prediction for End-to-end Autonomous Driving: A Simple yet Strong Baseline Code
#13Interfuser
0.63
Infraction Score· 2022-07-28
Safety-Enhanced Autonomous Driving Using Interpretable Sensor Fusion Transformer Code
#14InteractionNet
0.6
Infraction Score· 2023-09-07
InteractionNet: Joint Planning and Prediction for Autonomous Driving with Transformers Code
#15TransFuser++ WP (TF++WP)
0.56
Infraction Score· 2023-06-13
Hidden Biases of End-to-End Driving Models Code
#16World on Rails (WOR)SOTA
0.56
Infraction Score· 2021-05-03
Learning to drive from a world on rails Code
#17Learning from all Vehicles v1 (LAV v1)
0.51
Infraction Score· 2022-03-22
Learning from All Vehicles Code
#18TransFuser (TF)
0.5
Infraction Score· 2022-05-31
TransFuser: Imitation with Transformer-Based Sensor Fusion for Autonomous Driving Code
#19Latent TransFuser (LTF)
0.38
Infraction Score· 2022-05-31
TransFuser: Imitation with Transformer-Based Sensor Fusion for Autonomous Driving Code
#20Geometric Fusion (GF)
0.3
Infraction Score· 2022-05-31
TransFuser: Imitation with Transformer-Based Sensor Fusion for Autonomous Driving Code
#21Late Fusion (LF)
0.27
Infraction Score· 2022-05-31
TransFuser: Imitation with Transformer-Based Sensor Fusion for Autonomous Driving Code