{"url":"/sota/autonomous-driving-on-carla-leaderboard","task":{"name":"Autonomous Driving","url":"/task/autonomous-driving","note":null},"dataset":{"name":"CARLA Leaderboard","url":"/dataset/carla"},"category":"Computer Vision","categories":["Computer Vision","Miscellaneous","Robots"],"category_note":null,"description":"Autonomous driving is the task of driving a vehicle without human conduction. \r\n\r\nMany of the state-of-the-art results can be found at more general task pages such as [3D Object Detection](https://paperswithcode.com/task/3d-object-detection) and [Semantic Segmentation](https://paperswithcode.com/task/semantic-segmentation).\r\n\r\n<span style=\"color:grey; opacity: 0.5\">(Image credit: [Exploring the Limitations of Behavior Cloning for Autonomous Driving](https://arxiv.org/pdf/1904.08980v1.pdf))</span>","description_from":"task","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","rank":"the archive's row order at snapshot; not re-ranked","rows_end_at":"2025-07-28","rows_withheld_as_spam":0,"metric_values":"the archive's strings, untouched"},"metrics":["Driving Score","Route Completion","Infraction penalty"],"metric_direction":{"note":"inferred from the metric name only (the archive records no direction); null = not inferred, chart draws points only","by_metric":{"Driving Score":"higher","Route Completion":null,"Infraction penalty":null}},"counts":{"rows":18,"rows_with_code":15,"rows_with_paper_page":17,"rows_dated":17,"rows_using_additional_data":0},"rows":[{"rank_in_archive_order":1,"model":"ReasonNet","metrics":{"Driving Score":"79.95","Infraction penalty":"0.89","Route Completion":"89.89"},"uses_additional_data":false,"paper_date":"2023-05-17","paper":"/paper/reasonnet-end-to-end-driving-with-temporal-1","paper_url":"https://arxiv.org/abs/2305.10507v1","paper_title":"ReasonNet: End-to-End Driving with Temporal and Global Reasoning","code":null,"n_code_links":0,"syntology":null},{"rank_in_archive_order":2,"model":"InterFuser","metrics":{"Driving Score":"76.18","Infraction penalty":"0.84","Route Completion":"88.23"},"uses_additional_data":false,"paper_date":"2022-07-28","paper":"/paper/safety-enhanced-autonomous-driving-using-1","paper_url":"https://arxiv.org/abs/2207.14024v5","paper_title":"Safety-Enhanced Autonomous Driving Using Interpretable Sensor Fusion Transformer","code":"https://github.com/opendilab/InterFuser","n_code_links":1,"syntology":{"n_ran":1,"n_unverified":0,"n_samples":1,"n_pointer_only_licence":0}},{"rank_in_archive_order":3,"model":"TCP","metrics":{"Driving Score":"75.14","Infraction penalty":"0.87","Route Completion":"85.63"},"uses_additional_data":false,"paper_date":"2022-06-16","paper":"/paper/trajectory-guided-control-prediction-for-end","paper_url":"https://arxiv.org/abs/2206.08129v2","paper_title":"Trajectory-guided Control Prediction for End-to-end Autonomous Driving: A Simple yet Strong Baseline","code":"https://github.com/OpenPerceptionX/TCP","n_code_links":1,"syntology":null},{"rank_in_archive_order":4,"model":"TF++ WP","metrics":{"Driving Score":"66.32","Infraction penalty":"0.84","Route Completion":"78.57"},"uses_additional_data":false,"paper_date":"2023-06-13","paper":"/paper/hidden-biases-of-end-to-end-driving-models","paper_url":"https://arxiv.org/abs/2306.07957v2","paper_title":"Hidden Biases of End-to-End Driving Models","code":"https://github.com/autonomousvision/carla_garage","n_code_links":1,"syntology":{"n_ran":13,"n_unverified":4,"n_samples":17,"n_pointer_only_licence":0}},{"rank_in_archive_order":5,"model":"Learning From All Vehicles (LAV)","metrics":{"Driving Score":"61.846","Infraction penalty":"0.640","Route Completion":"94.459"},"uses_additional_data":false,"paper_date":"2022-03-22","paper":"/paper/learning-from-all-vehicles","paper_url":"https://arxiv.org/abs/2203.11934v3","paper_title":"Learning from All Vehicles","code":"https://github.com/dotchen/LAV","n_code_links":1,"syntology":{"n_ran":2,"n_unverified":3,"n_samples":5,"n_pointer_only_licence":0}},{"rank_in_archive_order":6,"model":"TransFuser","metrics":{"Driving Score":"61.181","Infraction penalty":"0.714","Route Completion":"86.694"},"uses_additional_data":false,"paper_date":"2022-05-31","paper":"/paper/transfuser-imitation-with-transformer-based","paper_url":"https://arxiv.org/abs/2205.15997v1","paper_title":"TransFuser: Imitation with Transformer-Based Sensor Fusion for Autonomous Driving","code":"https://github.com/autonomousvision/transfuser","n_code_links":3,"syntology":{"n_ran":5,"n_unverified":0,"n_samples":5,"n_pointer_only_licence":0}},{"rank_in_archive_order":7,"model":"TransFuser (Reproduced)","metrics":{"Driving Score":"55.04","Infraction penalty":"0.63","Route Completion":"89.65"},"uses_additional_data":false,"paper_date":"2022-05-31","paper":"/paper/transfuser-imitation-with-transformer-based","paper_url":"https://arxiv.org/abs/2205.15997v1","paper_title":"TransFuser: Imitation with Transformer-Based Sensor Fusion for Autonomous Driving","code":"https://github.com/autonomousvision/transfuser","n_code_links":3,"syntology":{"n_ran":5,"n_unverified":0,"n_samples":5,"n_pointer_only_licence":0}},{"rank_in_archive_order":8,"model":"TCP (Reproduced)","metrics":{"Driving Score":"47.91","Infraction penalty":"0.77","Route Completion":"65.73"},"uses_additional_data":false,"paper_date":"2022-06-16","paper":"/paper/trajectory-guided-control-prediction-for-end","paper_url":"https://arxiv.org/abs/2206.08129v2","paper_title":"Trajectory-guided Control Prediction for End-to-end Autonomous Driving: A Simple yet Strong Baseline","code":"https://github.com/OpenPerceptionX/TCP","n_code_links":1,"syntology":null},{"rank_in_archive_order":9,"model":"Latent TransFuser","metrics":{"Driving Score":"45.20","Infraction penalty":"0.72","Route Completion":"66.31"},"uses_additional_data":false,"paper_date":"2022-05-31","paper":"/paper/transfuser-imitation-with-transformer-based","paper_url":"https://arxiv.org/abs/2205.15997v1","paper_title":"TransFuser: Imitation with Transformer-Based Sensor Fusion for Autonomous Driving","code":"https://github.com/autonomousvision/transfuser","n_code_links":3,"syntology":{"n_ran":5,"n_unverified":0,"n_samples":5,"n_pointer_only_licence":0}},{"rank_in_archive_order":10,"model":"GRIAD","metrics":{"Driving Score":"36.79","Infraction penalty":"0.6","Route Completion":"61.85"},"uses_additional_data":false,"paper_date":"2021-11-16","paper":"/paper/gri-general-reinforced-imitation-and-its","paper_url":"https://arxiv.org/abs/2111.08575v2","paper_title":"GRI: General Reinforced Imitation and its Application to Vision-Based Autonomous Driving","code":null,"n_code_links":0,"syntology":null},{"rank_in_archive_order":11,"model":"Transfuser+","metrics":{"Driving Score":"34.58","Infraction penalty":"0.56","Route Completion":"69.84"},"uses_additional_data":false,"paper_date":null,"paper":null,"paper_url":null,"paper_title":"","code":null,"n_code_links":0,"syntology":null},{"rank_in_archive_order":12,"model":"InterFuser (Reproduced)","metrics":{"Driving Score":"34.15","Infraction penalty":"0.45","Route Completion":"74.79"},"uses_additional_data":false,"paper_date":"2022-07-28","paper":"/paper/safety-enhanced-autonomous-driving-using-1","paper_url":"https://arxiv.org/abs/2207.14024v5","paper_title":"Safety-Enhanced Autonomous Driving Using Interpretable Sensor Fusion Transformer","code":"https://github.com/opendilab/InterFuser","n_code_links":1,"syntology":{"n_ran":1,"n_unverified":0,"n_samples":1,"n_pointer_only_licence":0}},{"rank_in_archive_order":13,"model":"World on Rails","metrics":{"Driving Score":"31.37","Infraction penalty":"0.56","Route Completion":"57.65"},"uses_additional_data":false,"paper_date":"2021-05-03","paper":"/paper/learning-to-drive-from-a-world-on-rails","paper_url":"https://arxiv.org/abs/2105.00636v3","paper_title":"Learning to drive from a world on rails","code":"https://github.com/dotchen/WorldOnRails","n_code_links":1,"syntology":{"n_ran":2,"n_unverified":4,"n_samples":6,"n_pointer_only_licence":0}},{"rank_in_archive_order":14,"model":"MaRLn","metrics":{"Driving Score":"24.98","Infraction penalty":"0.52","Route Completion":"46.97"},"uses_additional_data":false,"paper_date":"2019-11-25","paper":"/paper/end-to-end-model-free-reinforcement-learning","paper_url":"https://arxiv.org/abs/1911.10868v2","paper_title":"End-to-End Model-Free Reinforcement Learning for Urban Driving using Implicit Affordances","code":"https://github.com/valeoai/LearningByCheating","n_code_links":1,"syntology":{"n_ran":2,"n_unverified":5,"n_samples":7,"n_pointer_only_licence":0}},{"rank_in_archive_order":15,"model":"NEAT","metrics":{"Driving Score":"21.83","Infraction penalty":"0.65","Route Completion":"41.71"},"uses_additional_data":false,"paper_date":"2021-09-09","paper":"/paper/neat-neural-attention-fields-for-end-to-end","paper_url":"https://arxiv.org/abs/2109.04456v1","paper_title":"NEAT: Neural Attention Fields for End-to-End Autonomous Driving","code":"https://github.com/autonomousvision/neat","n_code_links":1,"syntology":{"n_ran":0,"n_unverified":2,"n_samples":2,"n_pointer_only_licence":0}},{"rank_in_archive_order":16,"model":"Transfuser","metrics":{"Driving Score":"16.93","Infraction penalty":"0.42","Route Completion":"51.82"},"uses_additional_data":false,"paper_date":"2021-04-19","paper":"/paper/multi-modal-fusion-transformer-for-end-to-end","paper_url":"https://arxiv.org/abs/2104.09224v1","paper_title":"Multi-Modal Fusion Transformer for End-to-End Autonomous Driving","code":"https://github.com/autonomousvision/transfuser","n_code_links":2,"syntology":{"n_ran":9,"n_unverified":6,"n_samples":15,"n_pointer_only_licence":0}},{"rank_in_archive_order":17,"model":"LBC","metrics":{"Driving Score":"8.94","Infraction penalty":"0.73","Route Completion":"17.54"},"uses_additional_data":false,"paper_date":"2019-12-27","paper":"/paper/learning-by-cheating","paper_url":"https://arxiv.org/abs/1912.12294v1","paper_title":"Learning by Cheating","code":"https://github.com/dotchen/LearningByCheating","n_code_links":9,"syntology":{"n_ran":5,"n_unverified":2,"n_samples":7,"n_pointer_only_licence":0}},{"rank_in_archive_order":18,"model":"CILRS","metrics":{"Driving Score":"5.37","Infraction penalty":"0.55","Route Completion":"14.40"},"uses_additional_data":false,"paper_date":"2019-04-18","paper":"/paper/exploring-the-limitations-of-behavior-cloning","paper_url":"http://arxiv.org/abs/1904.08980v1","paper_title":"Exploring the Limitations of Behavior Cloning for Autonomous Driving","code":"https://github.com/felipecode/coiltraine","n_code_links":2,"syntology":{"n_ran":1,"n_unverified":7,"n_samples":8,"n_pointer_only_licence":0}}],"since_archive":{"claim":"Results that newer papers report for their own method, placed here by Syntology. A model pointed at the cell in the paper's own table; the number was read from that cell and checked against this leaderboard's metric, dataset, split and scale; an independent check that saw this leaderboard's other rows and every other leaderboard on the same dataset accepted it. Not reviewed by the paper's authors or by the archive's editors, and not ranked against the archive rows.","extraction_file_present":true,"measurement":{"test_papers":883,"papers_with_output":881,"judged_true":108,"judged":110,"wilson95_lower":0.9361,"measured_on":"2026-09-24","frozen_commit":"0e3de0df94"},"measurement_note":"blind adjudication of accepted entries on a held-out split of archive papers, rules frozen before the test","coverage":{"sentence":"Syntology has checked 6,885 of the 9,623 papers on this site that are newer than the archive; results from the others appear after they are checked.","complete":false,"papers_newer_than_archive":9623,"papers_checked":6885,"papers_extracted_not_yet_verified":0,"boards_without_verdict":2,"papers_not_yet_extracted":2737},"order":"newest first by month (arXiv date, else the arXiv-id month), then arXiv id descending","columns":[],"entries":[]},"syntology":{"read_at":"2026-09-25T09:33:49+00:00","claim":"Per row: N of M harvested code samples from that row's paper executed on a synthesized fixture; the other M-N are unverified. Not a reproduction of the row's number; not a correctness claim. n_pointer_only_licence counts samples the site points at rather than redistributes (a licence axis, independent of ran/unverified).","rows_with_graph_line":13,"rows_with_any_sample_ran":12,"distinct_papers_with_graph_line":10,"distinct_papers_with_any_sample_ran":9,"samples_over_distinct_papers":{"n_ran":40,"n_unverified":33,"n_samples":73,"n_pointer_only_licence":0,"note":"each paper (arXiv id) counted once, however many rows it is behind; this is the page-level figure"},"samples_row_weighted":{"n_ran":51,"n_unverified":33,"n_samples":84,"n_pointer_only_licence":0,"note":"row-weighted: a paper behind several rows is counted once per row; inflated relative to samples_over_distinct_papers by design, kept for readers summing the per-row syntology blocks"}}}