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Bench2Drive

Benchmarks

Task NameDataset NameSOTA ResultTrend
Closed-loop PlanningBench2Drive
Driving Score89.15
137
Closed-loop Autonomous DrivingBench2Drive
Driving Score (DS)97.02
49
End-to-End Autonomous DrivingBench2Drive base set
Driving Score81.9
46
Open-loop PlanningBench2Drive
Average L2 Error0.38
36
Autonomous DrivingBench2Drive
Merging Score62.5
31
End-to-End Autonomous DrivingBench2Drive
Driving Score74.69
31
Autonomous DrivingBench2Drive 220 short segment scenarios
Driving Score82.37
30
Autonomous DrivingBench2Drive
Driving Score97.02
26
Closed-loop Autonomous DrivingBench2Drive closed-loop
DS97
24
Closed-loop PlanningBench2Drive (test)
Driving Score86.77
21
Autonomous DrivingBench2Drive 220 routes across CARLA towns
Efficiency161.31
20
End-to-End Autonomous DrivingBench2Drive standard base set (1K clips)
Driving Score (DS)85.9
19
Autonomous DrivingBench2Drive base (train)
Driving Score78.04
19
PlanningBench2Drive (test)
Driving Score74.22
15
Autonomous DrivingBench2Drive base set closed-loop
Driving Score (DS)0.7922
15
Open-loop PlanningBench2Drive base set open-loop
Average L2 Error0.57
15
End-to-End Autonomous DrivingBench2Drive v1.0 (Full-data)
Driving Score86.86
14
PlanningBench2Drive open-loop
Average L2 Error0.73
14
Autonomous DrivingBench2Drive CARLA Town 13 dreamer (val)
Driving Score91.01
14
Autonomous DrivingBench2Drive local benchmark
DS85.94
14
Autonomous DrivingBench2Drive base set open-loop
Avg L2 Error0.62
13
End-to-end Autonomous DrivingBench2Drive (test)
Driving Score74.22
13
Autonomous DrivingBench2Drive
Driving Score67.17
12
Trajectory PredictionBench2Drive
Average L2 Error0.62
11
End-to-End Autonomous DrivingBench2Drive 220 routes official
Overall Success Rate (DS)78.7
11
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