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Bench2Drive

Benchmarks

Task NameDataset NameSOTA ResultTrend
Closed-loop PlanningBench2Drive
Driving Score89.07
90
End-to-End Autonomous DrivingBench2Drive base set
Driving Score81.9
46
End-to-End Autonomous DrivingBench2Drive
Driving Score73.86
27
Closed-loop Autonomous DrivingBench2Drive closed-loop
DS97
24
Closed-loop Autonomous DrivingBench2Drive
Driving Score (DS)88.42
21
Closed-loop PlanningBench2Drive (test)
Driving Score86.77
21
Autonomous DrivingBench2Drive 220 routes across CARLA towns
Efficiency161.31
20
Autonomous DrivingBench2Drive base (train)
Driving Score78.04
19
Autonomous DrivingBench2Drive 220 short segment scenarios
Driving Score82.37
18
Autonomous DrivingBench2Drive base set closed-loop
Driving Score (DS)0.7922
15
Open-loop PlanningBench2Drive base set open-loop
Average L2 Error0.57
15
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 base subset (50 clips for open-loop)
Avg L2 Error0.62
11
PlanningBench2Drive open-loop (val)
Avg L2 Error0.62
11
Autonomous DrivingBench2Drive (dev10)
Merging Success Rate17.57
11
PlanningBench2Drive CARLA Leaderboard 2.0 (official 220 routes)
Driving Score64.22
11
End-to-End Autonomous DrivingBench2Drive Closed-loop
Driving Score96.25
10
Autonomous DrivingBench2Drive Multi-Ability Benchmark (test)
Merging Score34.67
10
PlanningBench2Drive (test)
Avg. L2 (m)0.62
9
End-to-End Autonomous DrivingBench2Drive Open-loop
Avg L2 Error (m)0.62
9
Autonomous DrivingBench2Drive Multi-Ability
Merging Score0.8127
9
Autonomous DrivingBench2Drive CARLA v2 (test)
Driving Score (DS)64.22
9
Open-loop PlanningBench2Drive
Average L2 Error0.61
9
Showing 25 of 37 rows