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bench2drive-on-bench2drive

Autonomous DrivingBench2Drive
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PaperCodeDriving ScoreSuccess RateModelNameReleaseDate
BridgeDrive: Diffusion Bridge Policy for Closed-Loop Trajectory Planning in Autonomous Driving✓ Link96.3489.25BridgeDrive (LEAD-trained)2025-09-28
LEAD: Minimizing Learner-Expert Asymmetry in End-to-End Driving✓ Link95.286.8TFv6 RegNetY-032 (140° FOV, LiDAR + Radar) (extra data)2025-12-23
Unifying Language-Action Understanding and Generation for Autonomous Driving91.01LinkVLA2026-03-02
BridgeGuard: Explicit Safety Drift for Diffusion-based Autonomous Driving90.88BridgeGuard (based on BridgeDrive)2026-10-08
SteerVLA: Steering Vision-Language-Action Models in Long-Tail Driving Scenarios90.7173.64SteerVLA2026-02-13
BLUE: Toward Better Language Use in Efficient Vision-Language-Action Models for Autonomous Driving✓ Link90.5876.18BLUE2026-06-07
BridgeGuard: Explicit Safety Drift for Diffusion-based Autonomous Driving90.46BridgeGuard (based on DiffusionDrive geo)2026-10-08
RoG-DAgger: Rollout-Guided Post-Training for End-to-End Driving90.3473.51RoG-DAgger2026-08-25
Learning from Mistakes: Post-Training for Driving VLA with Takeover Data89.72TakeVLA2026-03-16
AutoMoT: A Unified Vision-Language-Action Model with Asynchronous Mixture-of-Transformers for End-to-End Autonomous Driving89.42AutoMoT+2026-03-16
SparseDriveV2: Scoring is All You Need for End-to-End Autonomous Driving✓ Link89.1570SparseDriveV22026-03-31
VLADriver-RAG: Retrieval-Augmented Vision-Language-Action Models for Autonomous Driving✓ Link89.1270.42VLADriver-RAG2026-05-01
AlignDrive: Aligned Lateral-Longitudinal Planning for End-to-End Autonomous Driving89.07AlignDrive2026-01-05
PersonaDrive: Human-Style Retrieval-Augmented VLA Agents for Closed-Loop Driving Simulation88.9572.29PersonaDrive2026-06-10
VECTOR-Drive: Tightly Coupled Vision-Language and Trajectory Expert Routing for End-to-End Autonomous Driving88.9171.82VECTOR-DRIVE2026-05-09
GraphPilot: Grounded Scene Graph Conditioning for Language-Based Autonomous Driving✓ Link88.8972.73GraphPilot (SimLingo, SG10 JSON V2)2025-11-14
KnowVal: A Knowledge-Augmented and Value-Guided Autonomous Driving System88.4269.03KnowVal-SimLingo2025-12-23
DynVLA: Learning World Dynamics for Action Reasoning in Autonomous Driving88.34DynVLA2026-03-11
Risk-Aware World Model Predictive Control for Generalizable End-to-End Autonomous Driving88.31RaWMPC2026-02-26
MAPLE: Latent Multi-Agent Play for End-to-End Autonomous Driving88.370.5MAPLE (PDM-Lite-trained)2026-05-13
SafeDriveVLA: Navigation-Conditioned World Model Dreaming for Conflict-Aware End-to-End Autonomous Driving✓ Link88.1668.64SafeDriveVLA2026-10-14
What Matters for Scalable and Robust Learning in End-to-End Driving Planners?✓ Link88.1172.73BevAD-M2026-03-16
Judge, Then Drive: A Critic-Centric Vision Language Action Framework for Autonomous Driving88.02CriticVLA2026-04-30
Causality-Aware End-to-End Autonomous Driving via Ego-Centric Joint Scene Modeling87.5371.81CaAD2026-05-13
AutoMoT: A Unified Vision-Language-Action Model with Asynchronous Mixture-of-Transformers for End-to-End Autonomous Driving87.34AutoMoT2026-03-16
UniTeD: Unified Temporal Diffusion for Joint Perception and Planning in Autonomous Driving87.370.0UniTeD2026-06-24
Latent-Centroid Steering: Single-Pass Classifier-Free Guidance for Command-Aligned Autonomous Driving87.1871.16LCS2026-07-31
DiffRefiner: Coarse to Fine Trajectory Planning via Diffusion Refinement with Semantic Interaction for End to End Autonomous Driving87.1DiffRefiner2025-11-21
Deconfounded Lifelong Learning for Autonomous Driving via Dynamic Knowledge Spaces86.86DeLL2026-03-15
CLEAR: Closed-Loop Reinforcement Learning at Scale for End-to-End Autonomous Driving86.869.5CLEAR (InternVL3-1B)2026-07-03
HiP-AD: Hierarchical and Multi-Granularity Planning with Deformable Attention for Autonomous Driving in a Single Decoder✓ Link86.77HiP-AD2025-03-11
86.28R2SE
Reinforced Refinement with Self-Aware Expansion for End-to-End Autonomous Driving86.2869.54R2SE2025-06-11
DeepSight: Long-Horizon World Modeling via Latent States Prediction for End-to-End Autonomous Driving✓ Link86.23DeepSight2026-05-11
CarLLaVA: Vision language models for camera-only closed-loop driving✓ Link85.94SimLingo-Base (CarLLaVa)2024-06-14
CLEAR: Closed-Loop Reinforcement Learning at Scale for End-to-End Autonomous Driving85.968.2CLEAR (InternVL2-1B)2026-07-03
SimLingo: Vision-Only Closed-Loop Autonomous Driving with Language-Action Alignment✓ Link85.0767.27SimLingo2025-03-12
Hidden Biases of End-to-End Driving Models✓ Link84.21TransFuser++2023-06-13
Hidden Biases of End-to-End Driving Datasets✓ Link84.2167.27TF++ (Big + Pre + Ens) (extra data)2024-12-12
Selective Temporal Fusion using Recurrent Attention for End-to-End Autonomous Driving83.6964.85TF++ w/ TFM+void2025-11-24
Drive My Way: Preference Alignment of Vision-Language-Action Model for Personalized Driving82.7271.56DMW (Conservative)2026-03-26
PRIME: Perception Feedback with Situational Memory Embeddings in VLA Models82.47PRIME-Full2026-09-18
Generative Scenario Rollouts for End-to-End Autonomous Driving81.90GeRo (ORION)2026-01-16
OmniSpace: Efficient Geometry Awareness for Autonomous Vehicles MLLMs81.4065.52OmniSpace (Qwen3-VL 4B)2026-06-21
DriveMind: Mind-Evolving Belief Tracking for Closed-Loop Autonomous Driving✓ Link81.37DriveMind2026-10-23
CoT4AD: A Vision-Language-Action Model with Explicit Chain-of-Thought Reasoning for Autonomous Driving81.22Cot4AD-CoT2025-11-27
LVDrive: Latent Visual Representation Enhanced Vision-Language-Action Autonomous Driving Model80.71LVDrive2026-05-21
MindDrive: A Vision-Language-Action Model for Autonomous Driving via Online Reinforcement Learning80.59MindDrive-L (Online RL)2025-12-15
Orion-Lite: Distilling LLM Reasoning into Efficient Vision-Only Driving Models✓ Link80.5755.45Orion-Lite2026-04-09
WAM-Diff2: Hierarchical AR-to-Diffusion Distillation for Highly Efficient Autonomous Driving VLA✓ Link80.51WAM-Diff2 (2B, B=1, AR)2026-08-02
CoT4AD: A Vision-Language-Action Model with Explicit Chain-of-Thought Reasoning for Autonomous Driving80.24Cot4AD2025-11-27
Reflect-VLA: Internalizing Reflective Guidance via Dual-Path On-Policy Self-Distillation for Autonomous Driving80.15Reflect-VLA-4B2026-10-09
WAM-Diff2: Hierarchical AR-to-Diffusion Distillation for Highly Efficient Autonomous Driving VLA✓ Link80.01WAM-Diff2 (2B, B=4)2026-08-02
WAM-Diff2: Hierarchical AR-to-Diffusion Distillation for Highly Efficient Autonomous Driving VLA✓ Link79.73WAM-Diff2 (2B, B=8)2026-08-02
OmniSpace: Efficient Geometry Awareness for Autonomous Vehicles MLLMs79.6560.15OmniSpace (Qwen2.5-VL 7B)2026-06-21
Generative Scenario Rollouts for End-to-End Autonomous Driving79.60GeRo (Qwen2.5VL)2026-01-16
WAM-Diff2: Hierarchical AR-to-Diffusion Distillation for Highly Efficient Autonomous Driving VLA✓ Link79.52WAM-Diff2 (2B, B=16)2026-08-02
DriveStack-VLA: Render-Teacher Alignment for BEV-Based DeepStack Vision-Language-Action Model79.4956.36DriveStack-VLA2026-06-23
GaussianFusion: Gaussian-Based Multi-Sensor Fusion for End-to-End Autonomous Driving79.4GaussianFusion2025-05-27
UniDrive-WM: Unified Understanding, Planning and Generation World Model for Autonomous Driving79.31UniDrive-WM (AR+Diffusion)2026-01-07
UniDrive-WM: Unified Understanding, Planning and Generation World Model for Autonomous Driving79.22UniDrive-WM (AR)2026-01-07
PixelPilot: Scalable Vision-Language-Action Models for End-to-End Autonomous Driving79.14PixelPilot2026-07-06
VLGA: Vision-Language-Geometry-Action Models for Autonomous Driving✓ Link79.0852.73VLGA2026-06-10
WAM-Diff2: Hierarchical AR-to-Diffusion Distillation for Highly Efficient Autonomous Driving VLA✓ Link78.93WAM-Diff2 (2B, B=32)2026-08-02
AutoVLA: A Vision-Language-Action Model for End-to-End Autonomous Driving with Adaptive Reasoning and Reinforcement Fine-Tuning78.84AutoVLA2025-06-16
MomADv2: Reliable Temporal Memory for End-to-End Autonomous Driving78.8246.5MomADv22026-08-24
PerlAD: Towards Enhanced Closed-loop End-to-end Autonomous Driving with Pseudo-simulation-based Reinforcement Learning78.70PerlAD2026-03-16
UniDriveVLA: Unifying Understanding, Perception, and Action Planning for Autonomous Driving78.37UniDriveVLA2026-04-02
CogDriver: Integrating Cognitive Inertia for Temporally Coherent Planning in Autonomous Driving78.21CogDriver2025-08-31
ExpertAD: Enhancing Autonomous Driving Systems with Mixture of Experts78.1858.34Expert-VADv22025-11-13
Prioritizing Perception-Guided Self-Supervision: A New Paradigm for Causal Modeling in End-to-End Autonomous Driving✓ Link78.08PGS2025-11-11
MindDrive: A Vision-Language-Action Model for Autonomous Driving via Online Reinforcement Learning78.04MindDrive (Online RL)2025-12-15
SpaceDrive: Infusing Spatial Awareness into VLM-based Autonomous Driving78.02SpaceDrive+2025-12-11
Multimodal Action Diffusion for Robust End-to-End Autonomous Driving77.90ADT2026-06-01
ORION: A Holistic End-to-End Autonomous Driving Framework by Vision-Language Instructed Action Generation77.7ORION2025-03-25
Reflect-VLA: Internalizing Reflective Guidance via Dual-Path On-Policy Self-Distillation for Autonomous Driving77.39Reflect-VLA-2B2026-10-09
VADv2: End-to-End Vectorized Autonomous Driving via Probabilistic Planning✓ Link76.1550.46VADv22024-02-20
Reflect-VLA: Internalizing Reflective Guidance via Dual-Path On-Policy Self-Distillation for Autonomous Driving76.03Reflect-VLA-0.8B2026-10-09
MindDrive: A Vision-Language-Action Model for Autonomous Driving via Online Reinforcement Learning75.85MindDrive (IL)2025-12-15
MindDrive: A Vision-Language-Action Model for Autonomous Driving via Online Reinforcement Learning75.78MindDrive-L (IL)2025-12-15
GuideFlow: Constraint-Guided Flow Matching for Planning in End-to-End Autonomous Driving✓ Link75.2151.36GuideFlow2025-11-24
Raw2Drive: Reinforcement Learning with Aligned World Models for End-to-End Autonomous Driving (in CARLA v2)74.36Raw2Drive2025-05-22
74.33ETA
ETA: Efficiency through Thinking Ahead, A Dual Approach to Self-Driving with Large Models74.3348.33ETA Base Model2025-06-09
DriveMoE: Mixture-of-Experts for Vision-Language-Action Model in End-to-End Autonomous Driving74.22DriveMoE2025-05-22
MomWorld: Momentum-Aware Latent World Model for Long-Horizon Autonomous Driving✓ Link74.0750.00MomWorld2026-09-27
Hydra-NeXt: Robust Closed-Loop Driving with Open-Loop Training✓ Link73.86Hydra-NeXt2025-03-15
Validity Learning on Failures: Mitigating the Distribution Shift in Autonomous Vehicle Planning73.29VL (on failure)2024-06-03
World4Scorer: Outcome-Grounded World Modeling for Autonomous Driving73.27World4Scorer2026-09-29
TakeAD: Preference-based Post-optimization for End-to-end Autonomous Driving with Expert Takeover Data71.39TakeAD2025-12-19
ReCogDrive: A Reinforced Cognitive Framework for End-to-End Autonomous Driving✓ Link71.3645.45ReCogDrive (extra data)2025-06-09
Large Language Model-assisted Autonomous Vehicle Recovery from Immobilization70.8950.01Behavior Agent + StuckSolver†2025-10-29
SoAD: Safety-Oriented Value Estimation for Enhanced Closed-Loop End-to-End Autonomous Driving70.4741.36SoAD2026-08-01
68.90DRIVER
DIVER: Reinforced Diffusion Breaks Imitation Bottlenecks in End-to-End Autonomous Driving✓ Link68.936.75DIVER2025-07-05
Occlusion-Aware Interactive End-to-End Autonomous Driving for Right-of-Way Conflicts68.7348.86OAIAD2025-10-20
Plug-and-Play Traffic Element Awareness for End-to-End Autonomous Driving68.29DriveTransformer-Large + LTF+2026-08-18
DiffAD: A Unified Diffusion Modeling Approach for Autonomous Driving67.92DiffAD2025-03-15
Kinematic priors guide generative trajectory planning for autonomous vehicles67.4936.51Diffusion-Phy2026-07-31
67.17NavigationDrive
Unveiling the Surprising Efficacy of Navigation Understanding in End-to-End Autonomous Driving67.17SNG-VLA2026-04-14
DriveMamba: Task-Centric Scalable State Space Model for Efficient End-to-End Autonomous Driving66.82DriveMamba-Large2026-02-09
SafeDrive: Fine-Grained Safety Reasoning for End-to-End Driving in a Sparse World66.77SafeDrive2026-02-21
CAPS: Context-Aware Priority Sampling for Enhanced Imitation Learning in Autonomous Driving66.7652.87CAPS2025-03-03
RAP: 3D Rasterization Augmented End-to-End Planning✓ Link66.4237.27RAP-ResNet2025-10-05
VDRive: Leveraging Reinforced VLA and Diffusion Policy for End-to-end Autonomous Driving66.2550.51VDRive2025-10-17
DriveMamba: Task-Centric Scalable State Space Model for Efficient End-to-End Autonomous Driving65.50DriveMamba-Base2026-02-09
HiPro-AD: Sparse Trajectory Transformer for End-to-End Autonomous Driving with Hybrid Spatiotemporal Attention65.4837.31HiPro-AD2025-12-26
MindDriver: Introducing Progressive Multimodal Reasoning for Autonomous Driving✓ Link65.48MindDriver2026-02-25
GEMINUS: Dual-aware Global and Scene-Adaptive Mixture-of-Experts for End-to-End Autonomous Driving✓ Link65.39GEMINUS2025-07-19
LADY: Linear Attention for Autonomous Driving Efficiency without Transformers65.12LADY (Infinite frames)2025-12-17
iPad: Iterative Proposal-centric End-to-End Autonomous Driving✓ Link65.02iPad2025-05-21
EvaDrive: Evolutionary Adversarial Policy Optimization for End-to-End Autonomous Driving64.96EvaDrive(Aggres.)2025-08-05
Drive-JEPA: Video JEPA Meets Multimodal Trajectory Distillation for End-to-End Driving✓ Link64.52Drive-JEPA2026-01-29
DriveAdapter: Breaking the Coupling Barrier of Perception and Planning in End-to-End Autonomous Driving✓ Link64.22DriveAdapter2023-08-01
Perception in Plan: Coupled Perception and Planning for End-to-End Autonomous Driving✓ Link64.22VeteranAD2025-08-15
ReasonPlan: Unified Scene Prediction and Decision Reasoning for Closed-loop Autonomous Driving✓ Link64.01ReasonPlan2025-05-26
DriveTransformer: Unified Transformer for Scalable End-to-End Autonomous Driving✓ Link63.46Drivetransformer-Large2025-03-07
Think Twice before Driving: Towards Scalable Decoders for End-to-End Autonomous Driving✓ Link62.44ThinkTwice2023-05-10
DriveDPO: Policy Learning via Safety DPO For End-to-End Autonomous Driving62.02DriveDPO2025-09-22
End-to-End Driving with Online Trajectory Evaluation via BEV World Model✓ Link61.7131.36WoTE2025-04-02
DriveMamba: Task-Centric Scalable State Space Model for Efficient End-to-End Autonomous Driving60.78DriveMamba-Small2026-02-09
Trajectory-guided Control Prediction for End-to-end Autonomous Driving: A Simple yet Strong Baseline✓ Link59.90TCP-traj2022-06-16
DA-WAM: Decision-Aligned Future Latents for Driving World Models✓ Link59.0424.66DA-WAM2026-08-19
Future-Aware End-to-End Driving: Bidirectional Modeling of Trajectory Planning and Scene Evolution58.3230.17SeerDrive2025-10-13
LADY: Linear Attention for Autonomous Driving Efficiency without Transformers57.52LADY (10 frames)2025-12-17
Plug-and-Play Traffic Element Awareness for End-to-End Autonomous Driving56.4VAD + LTF+2026-08-18
IRL-VLA: Training an Vision-Language-Action Policy via Reward World Model55.3628.24IRL-VLA-RL2025-08-07
DriveMamba: Task-Centric Scalable State Space Model for Efficient End-to-End Autonomous Driving53.54DriveMamba-Tiny2026-02-09
DiFSD: Ego-Centric Fully Sparse Paradigm with Uncertainty Denoising and Iterative Refinement for Efficient End-to-End Self-Driving✓ Link52.02DiFSD2024-09-15
FlowAD: Ego-Scene Interactive Modeling for Autonomous Driving✓ Link51.77FlowAD2026-03-11
X-Driver: Explainable Autonomous Driving with Vision-Language Models51.70X-Driver2025-05-08
Embodied Cognition Augmented End2End Autonomous Driving✓ Link50.0720.12E³AD (UniAD-Base)2025-11-03
Bridging Past and Future: End-to-End Autonomous Driving with Historical Prediction and Planning✓ Link50.0622.73BridgeAD2025-03-18
LADY: Linear Attention for Autonomous Driving Efficiency without Transformers50.06LADY (1 frame)2025-12-17
CausalVAD: De-confounding End-to-End Autonomous Driving via Causal Intervention49.8319.42CausalVAD2026-03-19
Decoupling Scene Perception and Ego Status: A Multi-Context Fusion Approach for Enhanced Generalization in End-to-End Autonomous Driving49.4719.23AdaptiveAD2025-11-17
Trajectory-guided Control Prediction for End-to-end Autonomous Driving: A Simple yet Strong Baseline✓ Link49.30TCP-traj w/o distillation2022-06-16
SparseWorld: Enhancing End-to-End Autonomous Driving via World Models with Sparse Scene Representation48.95SparseWorld-S2026-05-23
Not All Agents Matter: From Global Attention Dilution to Risk-Prioritized Game Planning48.35GameAD2026-04-07
CogAD: Cognitive-Hierarchy Guided End-to-End Autonomous Driving48.30CogAD2025-05-27
47.91MomAD
Don't Shake the Wheel: Momentum-Aware Planning in End-to-End Autonomous Driving✓ Link47.9118.11MomAD2025-03-05
Planning-oriented Autonomous Driving✓ Link45.81UniAD-Base2022-12-20
FocalAD: Local Motion Planning for End-to-End Autonomous Driving45.7717.3FocalAD2025-06-13
Dual-AEB: Synergizing Rule-Based and Multimodal Large Language Models for Effective Emergency Braking✓ Link45.2310.0VAD + Dual-AEB2024-10-11
Two Tasks, One Goal: Uniting Motion and Planning for Excellent End To End Autonomous Driving Performance45.23TTOG2025-04-17
GenAD: Generative End-to-End Autonomous Driving✓ Link44.81GenAD2024-02-18
SparseDrive: End-to-End Autonomous Driving via Sparse Scene Representation✓ Link44.54SparseDrive2024-05-30
VAD: Vectorized Scene Representation for Efficient Autonomous Driving✓ Link42.35VAD2023-03-21
ReAL-AD: Towards Human-Like Reasoning in End-to-End Autonomous Driving41.1711.36ReAL-AD (VAD + MiniCPM-V)2025-07-16
Planning-oriented Autonomous Driving✓ Link40.73UniAD-Tiny2022-12-20
Trajectory-guided Control Prediction for End-to-end Autonomous Driving: A Simple yet Strong Baseline✓ Link40.70TCP2022-06-16
From Failures to Fixes: LLM-Driven Scenario Repair for Self-Evolving Autonomous Driving35.64VAD + SERA2025-05-28
Trajectory-guided Control Prediction for End-to-end Autonomous Driving: A Simple yet Strong Baseline✓ Link30.47TCP-ctrl2022-06-16
Bench2Drive: Towards Multi-Ability Benchmarking of Closed-Loop End-To-End Autonomous Driving✓ Link18.05AD-MLP2024-06-06
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