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CARLA longest6
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CARLA
CARLA longest6 on CARLA
Metric: Infraction Score (higher is better)
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#
Model
↕
Infraction Score
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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
#1
DiffE2E
0.86
Infraction Score
No paper
#2
DriveAdapter+TCP
SOTA
0.85
Infraction Score
· 2023-08-01
DriveAdapter: Breaking the Coupling Barrier of Perception and Planning in End-to-End Autonomous Driving
Code
#3
ThinkTwice
SOTA
0.84
Infraction Score
· 2023-05-10
Think Twice before Driving: Towards Scalable Decoders for End-to-End Autonomous Driving
Code
#4
DriveGPT4-V2
0.77
Infraction Score
No paper
#5
Coaching a Teachable Student (CaT)
0.77
Infraction Score
· 2023-06-16
Coaching a Teachable Student
Code
#6
EnDfuser + safety-rule
0.76
Infraction Score
· 2025-05-31
Using Diffusion Ensembles to Estimate Uncertainty for End-to-End Autonomous Driving
#7
TransFuser++ (TF++)
0.72
Infraction Score
· 2023-06-13
Hidden Biases of End-to-End Driving Models
Code
#8
Neural Attention Fields (NEAT)
SOTA
0.71
Infraction Score
· 2021-09-09
NEAT: Neural Attention Fields for End-to-End Autonomous Driving
Code
#9
DriveAdapter
0.68
Infraction Score
· 2023-08-01
DriveAdapter: Breaking the Coupling Barrier of Perception and Planning in End-to-End Autonomous Driving
Code
#10
Learning from all Vehicle v2 (LAV v2)
0.68
Infraction Score
· 2022-03-22
Learning from All Vehicles
Code
#11
Perception PlanT
0.65
Infraction Score
· 2022-10-25
PlanT: Explainable Planning Transformers via Object-Level Representations
Code
#12
Trajectory-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
#13
Interfuser
0.63
Infraction Score
· 2022-07-28
Safety-Enhanced Autonomous Driving Using Interpretable Sensor Fusion Transformer
Code
#14
InteractionNet
0.6
Infraction Score
· 2023-09-07
InteractionNet: Joint Planning and Prediction for Autonomous Driving with Transformers
Code
#15
TransFuser++ WP (TF++WP)
0.56
Infraction Score
· 2023-06-13
Hidden Biases of End-to-End Driving Models
Code
#16
World on Rails (WOR)
SOTA
0.56
Infraction Score
· 2021-05-03
Learning to drive from a world on rails
Code
#17
Learning from all Vehicles v1 (LAV v1)
0.51
Infraction Score
· 2022-03-22
Learning from All Vehicles
Code
#18
TransFuser (TF)
0.5
Infraction Score
· 2022-05-31
TransFuser: Imitation with Transformer-Based Sensor Fusion for Autonomous Driving
Code
#19
Latent TransFuser (LTF)
0.38
Infraction Score
· 2022-05-31
TransFuser: Imitation with Transformer-Based Sensor Fusion for Autonomous Driving
Code
#20
Geometric Fusion (GF)
0.3
Infraction Score
· 2022-05-31
TransFuser: Imitation with Transformer-Based Sensor Fusion for Autonomous Driving
Code
#21
Late Fusion (LF)
0.27
Infraction Score
· 2022-05-31
TransFuser: Imitation with Transformer-Based Sensor Fusion for Autonomous Driving
Code