Fail2Drive Leaderboard

Feel free to use the rendered table image (rendered/table.png) or the LaTeX source (f2d_leaderboard.tex) directly in your papers. BibTeX entries for every method on the leaderboard are collected in references.bib.

Contributing

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About Fail2Drive

Fail2Drive is the first CARLA v2 benchmark designed to test closed-loop generalization on truly unseen long-tail scenarios. It pairs shifted routes with in-distribution reference scenarios to expose hidden failure modes in state-of-the-art driving models.

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Citation

@misc{gerstenecker2026fail2drivebenchmarkingclosedloopdriving,
      title={Fail2Drive: Benchmarking Closed-Loop Driving Generalization}, 
      author={Simon Gerstenecker and Andreas Geiger and Katrin Renz},
      year={2026},
      eprint={2604.08535},
      archivePrefix={arXiv},
      primaryClass={cs.RO},
      url={https://arxiv.org/abs/2604.08535}, 
}