SOTA Closed-loop Planning benchmarks and papers with code

Benchmarks

Dataset Name	SOTA Method	Metric
Bench2Drive	SparseDriveV2	Driving Score89.15	137	16d ago
nuPlan 14 (val)	CarPLAN	NR Score95	75	1mo ago
nuPlan 14-hard (test)		NR86	73	9d ago
nuPlan 14 (test)	FlowDrive*	NR95.02	45	1mo ago
nuPlan random 14 (test)	Diffusion-Planner	NR94.8	35	1mo ago
Bench2Drive (test)	HiP-AD	Driving Score86.77	21	1mo ago
NAVSIM v1 (navtest)	DriveVLA-W0	NC98.7	18	16d ago
nuPlan (val14)		CLS-NR93.7	18	1mo ago
CARLA Bench2Drive (leaderboard)	AutoMoT	Driving Score (DS)87.34	17	1mo ago
NAVSIM v2	DriveWorld-VLA	NC98.6	17	23d ago
NAVSIM Navtest (test)		PDMS20.6	16	1mo ago
NAVSIM v2 (test)	DVGT-2-NAVSIM	NC98.7	15	16d ago
NAVSIM	Driving-GPT	NC Metric98.9	14	3d ago
NAVSIM v1		NC100	13	1mo ago
interPlan	FlowDrive*	Score44.05	12	1mo ago
nuScenes NeuroNCAP (val)	BridgeAD-B	Overall Score306	9	1mo ago
Bench2Drive V0.0.3	MomAD	Driving Score47.91	7	1mo ago
nuPlan Test14-Inter		Collision Avoidance100	7	1mo ago
Bench2Drive base V0.0.3 (train)	GameAD	Driving Score48.35	6	11d ago
NAVSIM Navhard V2 (test)	DiffusionDrive + Ours	NC (Navigation Completion)96.8	6	1mo ago
nuPlan	PlanTF	Latency (ms)4.51	6	1mo ago
nuPlan (test)	KnowDiffuser	NR Success Rate86.94	5	1mo ago
CARLA Longest6 closed-loop v1 (test)	Latent TransFuser	RC95.18	4	1mo ago
nuPlan long-horizon (8s)	-	-	0	1mo ago
nuPlan short-horizon (3s)	-	-	0	1mo ago

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