| TransFuser++ WP (TF++WP) | 73 | 0.56 | 97 | Hidden Biases of End-to-End Driving Models | - |
| TransFuser++ (TF++) | 69 | 0.72 | 94 | Hidden Biases of End-to-End Driving Models | - |
| Coaching a Teachable Student (CaT) | 58 | 0.77 | 79 | Coaching a Teachable Student | - |
| Trajectory-guided Control Prediction (TCP) | 48 | 0.65 | 72 | Trajectory-guided Control Prediction for End-to-end Autonomous Driving:
A Simple yet Strong Baseline | - |
| Learning from all Vehicle v2 (LAV v2) | 58 | 0.68 | 83 | Learning from All Vehicles | - |
| World on Rails (WOR) | 21 | 0.56 | 48 | Learning to drive from a world on rails | - |
| Neural Attention Fields (NEAT) | 24 | 0.71 | 62 | NEAT: Neural Attention Fields for End-to-End Autonomous Driving | - |
| Learning from all Vehicles v1 (LAV v1) | 33 | 0.51 | 70 | Learning from All Vehicles | - |