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CARLA

Benchmarks

Task NameDataset NameSOTA ResultTrend
Closed-loop Collaborative DrivingCARLA Town05
Disagreement Score (V0)35.73
20
Closed-loop planningCARLA Bench2Drive (leaderboard)
Driving Score (DS)87.34
17
Autonomous DrivingCARLA 42 routes
Driving Score93.25
17
Autonomous DrivingCARLA weather town CoRL2017 (test)
Straight Success100
17
Autonomous DrivingCARLA weather CoRL2017 (train)
Straight Success Rate100
17
Autonomous DrivingCARLA Town 2 (test)
AS21.4
15
Visual Reinforcement LearningCARLA (#GP scenario)
ER9
15
Autonomous DrivingCARLA (#HW)
Error Rate-11
15
Autonomous DrivingCARLA Town05 (Long)
DS73.22
15
Autonomous DrivingCARLA Town05 (Short)
DS Score95.71
15
Motion PlanningCARLA Town05 Long Benchmark (test)
Driving Score55.9
14
End-to-End DrivingCARLA Town05-Opt (test)
Route Completion (%)64
12
Autonomous DrivingCARLA Town 2 (train)
AS25.1
12
Autonomous DrivingCARLA Town 2 10 unseen (test)
AS Score24.32
12
Autonomous DrivingCARLA New town & weather original (test)
Straight Driving Success Rate100
12
Continual Instruction FollowingCARLA
Success Rate (SR)65.25
12
Autonomous Driving Model TestingCARLA SafeBench (Multiple Regions)
Compliance Ratio (CR)93.3
11
Semantic SegmentationCARLA ADV
mIoU37.97
11
End-to-end drivingCARLA Longest6 v2 (test)
Driving Score73
11
Autonomous DrivingCARLA Town05 New Weather (test)
Driving Score88.4
10
Novel view synthesisCARLA 0.9.15 (train test)
SSIM83.6
10
ReconstructionCARLA 0.9.15 (train test)
SSIM85.1
10
Autonomous DrivingCARLA Jun 2022 (public leaderboard)
Driving Score0.7618
10
Object DetectionCARLA simulator
AP@0.599
10
Autonomous Driving NavigationCARLA Town 2 10 routes
Average Speed17.47
9
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