| | 93.5 | DriveSuprim | |
| | 92.7 | DiffE2E | |
| Centaur: Robust End-to-End Autonomous Driving with Test-Time Training | | 92.6 | Centaur | 2025-03-14 |
| iPad: Iterative Proposal-centric End-to-End Autonomous Driving | ✓ Link | 91.7 | iPad | 2025-05-21 |
| | 91.6 | R2SE | |
| Hydra-MDP: End-to-end Multimodal Planning with Multi-target Hydra-Distillation | ✓ Link | 91.0 | Hydra-MDP-C | 2024-06-11 |
| Hydra-MDP: End-to-end Multimodal Planning with Multi-target Hydra-Distillation | ✓ Link | 91.0 | Hydra-MDP++ | 2024-06-11 |
| GoalFlow: Goal-Driven Flow Matching for Multimodal Trajectories Generation in End-to-End Autonomous Driving | ✓ Link | 90.3 | GoalFlow | 2025-03-07 |
| ReCogDrive: A Reinforced Cognitive Framework for End-to-End Autonomous Driving | | 89.6 | ReCogDrive | 2025-06-09 |
| GaussianFusion: Gaussian-Based Multi-Sensor Fusion for End-to-End Autonomous Driving | | 88.8 | GaussianFusion | 2025-05-27 |
| Hydra-NeXt: Robust Closed-Loop Driving with Open-Loop Training | ✓ Link | 88.6 | Hydra-NeXt | 2025-03-15 |
| End-to-End Driving with Online Trajectory Evaluation via BEV World Model | ✓ Link | 88.3 | WoTE | 2025-04-02 |
| DiffusionDrive: Truncated Diffusion Model for End-to-End Autonomous Driving | ✓ Link | 88.1 | DiffusionDrive | 2024-11-22 |
| | 87.0 | ARTEMIS | |
| ReSim: Reliable World Simulation for Autonomous Driving | | 86.6 | ReSim | 2025-06-11 |
| | 86.2 | Epona | |
| | 85.5 | DRAMA | |
| | 85.1 | World4Drive | |
| Enhancing End-to-End Autonomous Driving with Latent World Model | ✓ Link | 84.6 | LAW | 2024-06-12 |
| TransFuser: Imitation with Transformer-Based Sensor Fusion for Autonomous Driving | ✓ Link | 84.0 | TransFuser | 2022-05-31 |
| PARA-Drive: Parallelized Architecture for Real-time Autonomous Driving | | 84.0 | PARA-Drive | 2024-01-01 |
| TransFuser: Imitation with Transformer-Based Sensor Fusion for Autonomous Driving | ✓ Link | 83.8 | Latent TransFuser | 2022-05-31 |
| Planning-oriented Autonomous Driving | ✓ Link | 83.4 | UniAD | 2022-12-20 |
| ReCogDrive: A Reinforced Cognitive Framework for End-to-End Autonomous Driving | | 83.3 | InternVL3 | 2025-06-09 |
| ReCogDrive: A Reinforced Cognitive Framework for End-to-End Autonomous Driving | | 83.3 | QwenVL2.5 | 2025-06-09 |
| DrivingGPT: Unifying Driving World Modeling and Planning with Multi-modal Autoregressive Transformers | | 82.4 | DrivingGPT | 2024-12-24 |
| VADv2: End-to-End Vectorized Autonomous Driving via Probabilistic Planning | ✓ Link | 80.9 | VAD-v2 | 2024-02-20 |
| NAVSIM: Data-Driven Non-Reactive Autonomous Vehicle Simulation and Benchmarking | ✓ Link | 65.6 | Ego Status MLP | 2024-06-21 |
| NAVSIM: Data-Driven Non-Reactive Autonomous Vehicle Simulation and Benchmarking | ✓ Link | 20.6 | Constant Velocity | 2024-06-21 |