CLAP-AD TFv6
TFv6 checkpoint for closed-loop evaluation on Bench2Drive-Speed.
82.53
Speed-Adherence Score
View checkpoint and details →
Research in end-to-end driving
CLAP-AD explores imitation-free speed scoring to make end-to-end driving policies more aware of the outcomes their actions create.
Model releases
Open weights, configs, and benchmark details.
TFv6 checkpoint for closed-loop evaluation on Bench2Drive-Speed.
LTFv6 checkpoint adapted to NAVSIM's four-second planning horizon.
Each model repository includes its checkpoint, configuration, evaluation details, intended-use notes, and license information. Scores follow the protocols documented in the model cards.
About the work
CLAP-AD studies how speed selection and planning can account for closed-loop driving outcomes. The method and experiments span both CARLA and NAVSIM.
Intended use
These checkpoints are for benchmark evaluation. They have not been validated for real-vehicle deployment or other safety-critical use.
Citation
@inproceedings{aghajanzadeh2027clapad,
title={Closed-Loop Aware Planning via Imitation-Free Speed Scoring for End-to-End Autonomous Driving},
author={Aghajanzadeh, Emad and Schwarzfischer, Thomas and Kaufeld, Marc and Thoma, Moritz and P{\'e}goud, Ryan and Vemparala, Manoj Rohit and Mori, Pierpaolo and Fasfous, Nael and Betz, Johannes and Mueller-Gritschneder, Daniel and Schlichtmann, Ulf},
booktitle={Proceedings of the IEEE/CVF Winter Conference on Applications of Computer Vision},
year={2027}
}