{
  "scale": "0\u2013100; higher is better",
  "provenance": "Transcribed from the supplied manuscript tables. Historical NAVSIM scores must not be pooled with corrected scores. Senna diagnostic bridge is excluded from principal CARLA results.",
  "tracks": {
    "carla": {
      "label": "CARLA-L2D",
      "profile": "paper: 64 PCUs \u00b7 3 expressions \u00b7 seed 1",
      "metrics": [
        "SISR",
        "CFPS",
        "SemISR",
        "Sem-CFPS",
        "SCS",
        "PCS",
        "PSM",
        "DrivingScore",
        "L2D"
      ],
      "rows": [
        {
          "model": "Alpamayo 1.5",
          "SISR": 8.07,
          "CFPS": 1.04,
          "SemISR": 42.19,
          "Sem-CFPS": 30.73,
          "SCS": 26.18,
          "PCS": 12.5,
          "PSM": 70.1,
          "DrivingScore": 62.69,
          "L2D": 12.2
        },
        {
          "model": "SimLingo",
          "SISR": 7.81,
          "CFPS": 1.04,
          "SemISR": 48.7,
          "Sem-CFPS": 35.94,
          "SCS": 23.51,
          "PCS": 11.94,
          "PSM": 62.3,
          "DrivingScore": 65.04,
          "L2D": 12.15
        },
        {
          "model": "LMDrive",
          "SISR": 12.24,
          "CFPS": 0.0,
          "SemISR": 29.17,
          "Sem-CFPS": 18.23,
          "SCS": 21.45,
          "PCS": 9.26,
          "PSM": 88.84,
          "DrivingScore": 50.12,
          "L2D": 10.39
        },
        {
          "model": "OneVL",
          "SISR": 0.52,
          "CFPS": 0.0,
          "SemISR": 25.0,
          "Sem-CFPS": 3.65,
          "SCS": 16.69,
          "PCS": 7.05,
          "PSM": 77.72,
          "DrivingScore": 50.69,
          "L2D": 4.87
        },
        {
          "model": "Qwen-Drive-1.0-4B",
          "SISR": 1.82,
          "CFPS": 0.0,
          "SemISR": 15.62,
          "Sem-CFPS": 3.12,
          "SCS": 17.05,
          "PCS": 7.09,
          "PSM": 76.68,
          "DrivingScore": 43.67,
          "L2D": 4.31
        },
        {
          "model": "Impromptu-VLA",
          "SISR": 0.26,
          "CFPS": 0.0,
          "SemISR": 19.79,
          "Sem-CFPS": 6.25,
          "SCS": 14.48,
          "PCS": 4.61,
          "PSM": 77.43,
          "DrivingScore": 42.02,
          "L2D": 3.87
        }
      ],
      "source": "source/tables/carla_main.tex"
    },
    "realsim": {
      "label": "RealSim",
      "profile": "realsim-paper-1.0: 30 PCUs \u00b7 seed 1701",
      "metrics": [
        "SISR",
        "CFPS",
        "SemISR",
        "Sem-CFPS",
        "SCS",
        "PCS",
        "Safety",
        "DrivingScore",
        "L2D"
      ],
      "rows": [
        {
          "model": "Alpamayo2-Super",
          "SISR": 13.33,
          "CFPS": 0.0,
          "SemISR": 18.33,
          "Sem-CFPS": 0.0,
          "SCS": 21.43,
          "PCS": 0.0,
          "Safety": 93.33,
          "DrivingScore": 97.1,
          "L2D": 9.22
        },
        {
          "model": "Alpamayo 1.5",
          "SISR": 11.67,
          "CFPS": 0.0,
          "SemISR": 15.0,
          "Sem-CFPS": 0.0,
          "SCS": 18.12,
          "PCS": 1.11,
          "Safety": 100.0,
          "DrivingScore": 97.17,
          "L2D": 8.38
        },
        {
          "model": "SimLingo",
          "SISR": 6.67,
          "CFPS": 3.33,
          "SemISR": 13.33,
          "Sem-CFPS": 6.67,
          "SCS": 16.67,
          "PCS": 10.0,
          "Safety": 68.33,
          "DrivingScore": 83.09,
          "L2D": 7.58
        },
        {
          "model": "AutoVLA",
          "SISR": 1.67,
          "CFPS": 0.0,
          "SemISR": 8.33,
          "Sem-CFPS": 6.67,
          "SCS": 9.73,
          "PCS": 6.67,
          "Safety": 41.67,
          "DrivingScore": 76.94,
          "L2D": 3.36
        },
        {
          "model": "Qwen-Drive-1.0-4B",
          "SISR": 0.0,
          "CFPS": 0.0,
          "SemISR": 1.67,
          "Sem-CFPS": 0.0,
          "SCS": 4.44,
          "PCS": 0.0,
          "Safety": 43.33,
          "DrivingScore": 69.16,
          "L2D": 0.92
        },
        {
          "model": "Impromptu-VLA",
          "SISR": 0.0,
          "CFPS": 0.0,
          "SemISR": 1.67,
          "Sem-CFPS": 0.0,
          "SCS": 3.71,
          "PCS": 0.0,
          "Safety": 30.0,
          "DrivingScore": 68.85,
          "L2D": 0.78
        },
        {
          "model": "OneVL",
          "SISR": 0.0,
          "CFPS": 0.0,
          "SemISR": 0.0,
          "Sem-CFPS": 0.0,
          "SCS": 0.0,
          "PCS": 0.0,
          "Safety": 43.33,
          "DrivingScore": 43.82,
          "L2D": 0.44
        },
        {
          "model": "ReCogDrive",
          "SISR": 0.0,
          "CFPS": 0.0,
          "SemISR": 0.0,
          "Sem-CFPS": 0.0,
          "SCS": 0.0,
          "PCS": 0.0,
          "Safety": 33.33,
          "DrivingScore": 43.57,
          "L2D": 0.38
        }
      ],
      "source": "source/tables/realsim_main.tex"
    },
    "wod": {
      "label": "WOD-E2E",
      "profile": "P0 \u00b7 241 PCUs \u00b7 canonical",
      "metrics": [
        "SemSISR",
        "SemCFPS",
        "SCS",
        "PCS"
      ],
      "rows": [
        {
          "model": "DriveMA-2B",
          "SemSISR": 38.38,
          "SemCFPS": 1.24,
          "SCS": 49.33,
          "PCS": 7.88
        },
        {
          "model": "Fast-dDrive",
          "SemSISR": 34.85,
          "SemCFPS": 0.0,
          "SCS": 46.42,
          "PCS": 5.27
        },
        {
          "model": "Qwen-Drive-SFT",
          "SemSISR": 34.44,
          "SemCFPS": 0.0,
          "SCS": 50.58,
          "PCS": 9.37
        },
        {
          "model": "Qwen-Drive-RL",
          "SemSISR": 35.06,
          "SemCFPS": 0.0,
          "SCS": 49.58,
          "PCS": 7.58
        }
      ],
      "source": "source/tables/offline_main.tex"
    },
    "navsim": {
      "label": "NAVSIM",
      "profile": "paper historical scorer \u00b7 38 PCUs \u00b7 4 wordings",
      "metrics": [
        "SemSISR",
        "SemCFPS",
        "SCS",
        "PCS"
      ],
      "rows": [
        {
          "model": "Qwen-Drive-1.0-4B",
          "SemSISR": 0.0,
          "SemCFPS": 0.0,
          "SCS": 5.472,
          "PCS": 0.0
        },
        {
          "model": "AutoVLA",
          "SemSISR": 3.947,
          "SemCFPS": 0.0,
          "SCS": 8.172,
          "PCS": 0.0
        },
        {
          "model": "DriveMA-2B",
          "SemSISR": 8.553,
          "SemCFPS": 0.0,
          "SCS": 11.244,
          "PCS": 2.242
        },
        {
          "model": "ReCogDrive",
          "SemSISR": 0.0,
          "SemCFPS": 0.0,
          "SCS": 4.4,
          "PCS": 0.0
        },
        {
          "model": "OneVL",
          "SemSISR": 3.618,
          "SemCFPS": 0.0,
          "SCS": 8.428,
          "PCS": 0.0
        }
      ],
      "source": "source/tables/offline_main.tex"
    },
    "nuscenes": {
      "label": "nuScenes",
      "profile": "v1.0-test \u00b7 60 held-out PCUs \u00b7 canonical",
      "metrics": [
        "SemSISR",
        "SemCFPS",
        "SCS",
        "PCS"
      ],
      "rows": [
        {
          "model": "Impromptu-VLA",
          "SemSISR": 15.83,
          "SemCFPS": 0.0,
          "SCS": 20.21,
          "PCS": 0.0
        },
        {
          "model": "UniDriveVLA",
          "SemSISR": 16.67,
          "SemCFPS": 0.0,
          "SCS": 25.0,
          "PCS": 0.0
        },
        {
          "model": "OpenDriveVLA-0.5B",
          "SemSISR": 13.33,
          "SemCFPS": 3.33,
          "SCS": 19.06,
          "PCS": 4.3
        },
        {
          "model": "OmniDrive",
          "SemSISR": 7.5,
          "SemCFPS": 0.0,
          "SCS": 29.24,
          "PCS": 8.61
        }
      ],
      "source": "source/tables/offline_main.tex"
    }
  }
}