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

Thomas Schwarzfischer, Emad Aghajanzadeh, Moritz Thoma +5

Closed-loop evaluation is widely regarded as a more faithful way to assess end-to-end (E2E) driving models than open-loop evaluation, and Bench2Drive, built on the CARLA simulator,…