SOTA Closed-loop Autonomous Driving benchmarks and papers with code

Benchmarks

Dataset Name	SOTA Method	Metric
Bench2Drive	PDM-Lite	Driving Score (DS)97.02	74	2mo ago
Bench2Drive closed-loop	PDM-Lite	DS97	46	1mo ago
Bench2Drive v1 (test)	BLUE	Success Rate (SR)76.18	19	1mo ago
Bench2Drive official (test)	VLGA	Driving Score79.08	17	1mo ago
Bench2Drive V0.0.3	GraphWorld	Driving Score (DS)76.71	16	1mo ago
Bench2Drive	CRAFT	Driving Score (DS)75.79	15	2mo ago
Bench2Drive without style conditioning	PersonaDrive	Driving Score (DS)88.95	14	1mo ago
Bench2Drive 220 (evaluation)	ADT	Driving Score (DS)77.9	8	1mo ago
Safety-Critical scenario suite closed-loop (test)		CR (%)17.9	8	4mo ago
General Driving scenario suite closed-loop (test)	VADv2† (w/ Expert BC)	CR (%)35.8	8	4mo ago
CARLA 220 short routes Leaderboard v2 protocol	Hydra-NeXt	Driving Score (DS)65.89	7	2mo ago
Waymo (test)	UniAD	NC76.9	6	1mo ago
Pandaset (test)	UniAD	NC68.2	6	1mo ago
nuScenes (test)	UniAD	NC71.8	6	1mo ago
KITTI360 (test)	VAD	NC24.4	6	1mo ago
nuScenes reconstructed	PPO	Error Rate (ER)26.76	6	2mo ago
CARLA 0.9.10.1 (Leaderboard)		Infraction Score0.787	6	3mo ago
CARLA Town 13 Leaderboard 2.1 (val)	VLAAD-MIL	Route Length (km)104.29	4	3mo ago
nuPlan (test)	DTCCL	Overall Score69.66	4	4mo ago
HUGSIM zero-shot	DrivoR	RC (Easy)80.9	4	4mo ago
bench2drive 50 closed-loop	X-Driver	Driving Score57.8	3	4mo ago
CARLA Town03 Night	FusionProxy	Success Rate91.5	2	2mo ago
CARLA Town02 Night	FusionProxy	Success Rate94.2	2	2mo ago
CARLA Town03 Fog	FusionProxy	Success Rate93.8	2	2mo ago
CARLA Fog (Town02)	FusionProxy	Success Rate96.5	2	2mo ago

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