Autonomous Driving Benchmarks

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Overview

The field studies how to measure autonomous vehicles’ abilities in perception, motion prediction, planning, and interaction, including safety-critical and rare events. It uses real-world datasets such as nuScenes and Waymo alongside simulated settings such as CARLA, with both open-loop trajectory metrics and closed-loop tests of complete driving behavior. Benchmark approaches increasingly probe long-tail scenarios, weather and geographic shifts, cooperative driving, and vision-language model reasoning. A central open tension is that strong open-loop scores may not translate to safe closed-loop driving, so evaluation must use metrics and protocols that reflect real behavior without rewarding misleading proxies.

Latest papers

CardsList

140 papers19 papers in the last four weeks, down 24% on the four weeks before. 0.1% of all new papers.

  1. Road Infrastructure Perception for Autonomous Driving: Taxonomy, Representations, Tasks, and Challenges

    Oct 24, 2026Guoyang Zhao, Weiqing Qi, Kai Zhang +5Autonomous Driving PerceptionAutonomous Driving Benchmarks

    The Hong Kong University of Science and Technology (Guangzhou), Guangzhou 511453, China. · The Hong Kong University of Science and Technology, Hong Kong SAR, China. · the James Watt School of Engineering, University of Glasgow, Glasgow G12 8QQ, U.K.

  2. DriveOSS: Dataset and Benchmark for 3D Anomaly Segmentation and Open-set Semantic Segmentation in Autonomous Driving

    Oct 23, 2026Zhiran Yan, Savankumar Bhanderi, Sourabh Lolge +4Autonomous Driving DatasetsAutonomous Driving Benchmarks

    Technische Hochschule Ingolstadt · UCLA

  3. Foundation4D: Towards a unified perception and reconstruction model for autonomous vehicles

    Oct 21, 2026NVIDIA, :, Sérgio Agostinho +25Autonomous Driving Perception4D Scene Understanding

    NVIDIA

  4. UBD-Bench: Benchmarking and Analyzing Unimodal Branch Degradation in Multimodal Perception for Autonomous Driving

    Oct 18, 2026Ang Liu, Xiang Gu, Ruikai Li +10Autonomous Driving PerceptionMultimodal Model Evaluation

    Beihang University · Xiaomi EV · University of Macau

  5. PanoBench: A Panoptic Occupancy Prediction Benchmark for Autonomous Driving

    Oct 16, 2026Yi Feng, Zizhan Guo, Junwu E +83D Occupancy PredictionAutonomous Driving Datasets

  6. STRIDE: Evaluating Spatiotemporal Reasoning in Driving Edge Cases

    Oct 16, 2026Lieqi Liu, Rui gao, Jia-Chen Gu +6Autonomous Driving BenchmarksSpatiotemporal Reasoning

    University of California, Los Angeles · Toyota InfoTech Labs

  7. Comfortably Stuck: Evaluation Pitfalls in Bench2Drive's Closed-Loop Protocol

    Oct 15, 2026Emad Aghajanzadeh, Thomas Schwarzfischer, Moritz Thoma +5Autonomous Driving BenchmarksBenchmark Design

    BMW Group, Munich, Germany · Technical University of Munich (TUM), Munich, Germany · Vienna University of Technology (TU Wien), Vienna, Austria

  8. SafeDriveVLA: Navigation-Conditioned World Model Dreaming for Conflict-Aware End-to-End Autonomous Driving

    Oct 14, 2026Shaoyuan Xie, Zihan Zhang, Jingxuan Wang +6Autonomous DrivingEnd-to-End Autonomous Driving

    UC Irvine · UC San Diego · University of Cincinnati +1

  9. Language2Drive: Do Vision-Language-Action Models Really Follow the Instructions in Autonomous Driving?

    Oct 12, 2026Zihan You, Zehua Fan, Wenqi Lyu +19Vision-Language-Action ModelsAutonomous Driving Benchmarks

    Institute for AI Industry Research (AIR), Tsinghua University · Southeast University · Shanghai Jiao Tong University +16

  10. Behavioral Safety Assessment towards Large-scale Deployment of Autonomous Vehicles, Part I: Methodology

    Oct 6, 2026Henry X. Liu, Tinghan Wang, Xintao Yan +6Autonomous Driving BenchmarksAutonomous Driving Safety Evaluation

    University of Michigan Transportation Research Institute, Ann Arbor, MI 48109 USA. · Department of Civil and Environmental Engineering, University of Michigan, Ann Arbor, MI 48109 USA. · Department of Civil Engineering, The University of Hong Kong, Hong Kong 999077, China. +2

  11. Odyssey: A Closed-Loop Benchmark for Long-Horizon Real-World Driving with Explicit Navigation Routes

    Oct 5, 2026Jungho Kim, Hongjae Shin, Seunghoon Yu +11Autonomous Driving DatasetsAutonomous Driving Benchmarks

    Seoul National University, Republic of Korea

  12. Radar2Plan: Benchmarking 4D Radar for End-to-End Open-Loop Ego-Trajectory Planning

    Oct 5, 2026Ling Yao, Yichun Xiao, Jin Jin +2Autonomous Driving BenchmarksCamera-Radar Fusion

    HKUST(GZ) · Shanghai Jiao Tong University · University of Oxford

  13. Answer with Evidence: Consistency-Aware Grounded Visual Question Answering for Roadside Traffic Scenes

    Oct 4, 2026Runwei Guan, Rongsheng Hu, Shangshu Chen +10Autonomous Driving BenchmarksVisual Question Answering

    The Hong Kong University of Science and Technology (Guangzhou), Guangzhou, China. · Jiangnan University, Wuxi, China. · Central China Normal University, Wuhan, China. +6

  14. Weather-Aware Domain Adaptation for Street-View Weather Recognition

    Oct 1, 2026Hossein Maghsoumi, George Atia, Yaser P. FallahMulti-Source Domain AdaptationAutonomous Driving Benchmarks

    Department of Electrical and Computer Engineering University of Central Florida, Orlando, USA · Department of Computer Science University of Central Florida, Orlando, USA

  15. DrivingBench: Can Vision-Language Models Drive a Toyota Corolla?

    Sep 30, 2026Aditya Ramabadran, Simon Mahns, Tobias GesslerAutonomous Driving BenchmarksTool Use in VLMs

  16. TrafficSignBench: Rule-Centric Closed-Loop Evaluation of Traffic-Sign Compliance in Autonomous Driving

    Sep 29, 2026Victoria Smirnova, Viktoriia Zinkovich, Gregorii Bukhtuev +4Autonomous Driving BenchmarksAutonomous Driving Safety Evaluation

    Lomonosov Moscow State University · FusionBrain Lab · Moscow Institute of Physics and Technology +3

  17. ExceptionDrive: A Planning-Oriented Counterfactual Corner-Case Benchmark for Autonomous Driving

    Sep 29, 2026Ziyi Luo, Zhe Sun, Yehao Lu +5Autonomous Driving BenchmarksAutonomous Driving Safety Evaluation

    College of Computer Science and Technology, Zhejiang University, Hangzhou, China · Yinwang Intelligent Technology Co., Ltd., Shenzhen, China

  18. VehicleArena: A Realistic Urban Environment for Multi-Agent Driving

    Sep 28, 2026Jie Yang, Jiajun Chen, Jiazheng Zhou +4Autonomous Driving BenchmarksAutonomous Driving

    Fudan University · Shanghai Innovation Institute

  19. When the Score Becomes the Target: Rethinking Metric Validity in Autonomous Driving

    Sep 28, 2026Morui Zhu, Deyuan Qu, Qi Chen +2Autonomous Driving BenchmarksReward Hacking

    University of North Texas · Toyota InfoTech Labs

  20. VehDyn: A Driving World Model Benchmark for Vehicle Dynamics

    Sep 27, 2026Tianyi Wang, Wangsheng Du, Jiazhou Chen +12Autonomous Driving BenchmarksPhysical Consistency in Video Generation

  21. AevaScenes: An FMCW LiDAR Dataset and Benchmark for Long-Range Perception

    Sep 27, 2026Gautham Narayan Narasimhan, Heethesh Vhavle, Kumar Bhargav Viswanatha +2Scene Flow EstimationLidar-Based 3D Object Detection

    Aeva Inc., Mountain View, CA, USA. · Carnegie Mellon University, Pittsburgh, PA, USA.

  22. When an Evaluation Rule Writes Training Labels: Measuring Human-Reference Forgiveness in NAVSIM

    Sep 27, 2026Jiaxuan Guo, Jingxin Yang, Jiaqi Ye +4Autonomous Driving BenchmarksLearning with Noisy Labels

    Stanford University · University of Maryland, College Park

  23. SV2V-RSim: A Comprehensive Benchmark for Self-Selective V2V Cooperative Perception with Near-Realistic Data

    Sep 26, 2026Yulu Wu, Chao Wei, Jujun Cheng +6Cooperative PerceptionAutonomous Driving Datasets

    Tongji University, Shanghai, China · Anhui University, Hefei, China · University of Toyama, Toyama, Japan

  24. One Perception, All Maneuvers: Directional Traffic Signal Understanding for Maneuver-Level Signal Intent Prediction

    Sep 26, 2026Ang Zou, Runzhe Zheng, Zhigang li +5Autonomous Driving PerceptionIntelligent Transportation Systems

    College of Computer Science and Technology, Zhejiang University · BYD Company Limited · School of Electronic and Information Engineering, Shanghai DianJi University

  25. CausalDriveBench: Evaluating Causal Reasoning in Vision-Language-Action Models for Autonomous Driving

    Sep 26, 2026Narendiran Chembu, Navvrat Rao, Shreedhar Shreeshail Kodate +10Reasoning for VLA ModelsVision-Language-Action Models

    Fastcode AI · Indian Institue of Technology Delhi

  26. Autonomous Driving Research Requires a Community-Driven Data Paradigm

    Sep 25, 2026Jinsu Yoo, Zanming Huang, Katie Z Luo +5Autonomous Driving DatasetsAutonomous Driving

    Boston University · Stanford University · The Ohio State University +1

  27. DriveHierarchy: A Benchmark for Diagnosing VLM Driving Capabilities from Open-Loop Understanding to Closed-Loop Execution

    Sep 25, 2026Chengkai Xu, Jiaqi Liu, Yicheng Guo +2Autonomous Driving BenchmarksVLMs for Autonomous Driving

    College of Transportation, Tongji University, Shanghai, China · Department of Computer Science, UNC Chapel Hill, NC, USA

  28. TrafficImag: A Benchmark for Counterfactual Roadside Traffic Video Generation

    Sep 25, 2026Xiangyu Li, Tianyi Wang, Zhihao Dou +2Video Generation EvaluationCausal Counterfactual Generation

    Fariborz Maseeh Department of Civil, Architectural, and Environmental Engineering, The University of Texas at Austin, Austin, TX 78712, USA · Department of Electrical and Computer Engineering, Duke University, Durham, NC 27708, USA

  29. BranchDrive: A Branch-Structured Dataset for Action-Conditioned Driving Prediction

    Sep 23, 2026Feeza Khan Khanzada, Sudarshan Sridhar, Jaerock KwonAutonomous Driving DatasetsAutonomous Driving Benchmarks

    Department of Electrical and Computer Engineering, University of Michigan-Dearborn, 4901 Evergreen Rd, Dearborn, MI 48128, United States

  30. DreamStream: Towards Policy-Oriented Generative Simulation for End-to-End Driving

    Sep 22, 2026Ziyang Leng, Sicheng Mo, Seth Z. Zhao +4Autonomous Driving BenchmarksEnd-to-End Autonomous Driving

    University of California, Los Angeles · Toyota Research Institute