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| content="CLAP-AD research, checkpoints, and evaluation resources for closed-loop-aware autonomous driving." |
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| <title>CLAP-AD | Closed-Loop Aware Planning</title> |
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| <div id="clap-ad-card" class="card-shell mx-auto max-w-6xl space-y-6 p-4 text-gray-900"> |
| <header class="card-hero rounded-2xl border border-indigo-100 bg-gradient-to-br from-indigo-50 via-white to-blue-50 p-6 shadow-sm md:p-10"> |
| <p class="card-eyebrow mb-3 text-xs font-bold uppercase tracking-widest text-indigo-700"> |
| Research in end-to-end driving |
| </p> |
| <h1 class="card-title mb-4 text-4xl font-extrabold leading-tight tracking-tight text-gray-900 md:text-5xl"> |
| Planning for the <span class="text-indigo-700">closed loop.</span> |
| </h1> |
| <p class="card-intro mb-6 max-w-3xl text-lg leading-relaxed text-gray-600"> |
| CLAP-AD explores imitation-free speed scoring to make end-to-end |
| driving policies more aware of the outcomes their actions create. |
| </p> |
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| class="card-button card-button-primary inline-flex items-center rounded-lg border border-indigo-100 bg-indigo-100 px-4 py-2 text-sm font-semibold text-indigo-800 hover:bg-indigo-100" |
| href="https://clap-ad.github.io/" target="_blank" rel="noopener noreferrer">Explore the project ↗</a> |
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| class="card-button inline-flex items-center rounded-lg border border-gray-300 bg-white px-4 py-2 text-sm font-semibold text-gray-800 hover:bg-gray-50" |
| href="https://arxiv.org/abs/2610.36079" target="_blank" rel="noopener noreferrer">Read the paper ↗</a> |
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| class="card-button inline-flex items-center rounded-lg border border-gray-300 bg-white px-4 py-2 text-sm font-semibold text-gray-800 hover:bg-gray-50" |
| href="https://github.com/clap-ad/clap-ad" target="_blank" rel="noopener noreferrer">Browse the code ↗</a> |
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| <div class="hero-meta mt-6 flex flex-wrap gap-2"> |
| <span class="meta-pill rounded-full border border-indigo-100 bg-white px-3 py-1 text-xs font-semibold text-gray-600">WACV 2027</span> |
| <span class="meta-pill rounded-full border border-indigo-100 bg-white px-3 py-1 text-xs font-semibold text-gray-600">CARLA</span> |
| <span class="meta-pill rounded-full border border-indigo-100 bg-white px-3 py-1 text-xs font-semibold text-gray-600">NAVSIM</span> |
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| <section class="card-section rounded-2xl border border-gray-200 bg-white p-6 shadow-sm md:p-8"> |
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| Model releases |
| </p> |
| <div class="mb-5 flex flex-wrap items-end justify-between gap-3"> |
| <h2 class="card-heading text-2xl font-bold tracking-tight text-gray-900 md:text-3xl"> |
| Checkpoints |
| </h2> |
| <p class="card-muted text-sm text-gray-500">Open weights, configs, and benchmark details.</p> |
| </div> |
| <div class="model-grid grid grid-cols-1 gap-4 md:grid-cols-2"> |
| <article class="model-card rounded-xl border border-gray-200 bg-gray-50 p-5"> |
| <span class="model-tag mb-3 inline-block rounded-full bg-indigo-100 px-3 py-1 text-xs font-bold uppercase tracking-wide text-indigo-800"> |
| CARLA · Bench2Drive-Speed |
| </span> |
| <h3 class="card-subheading mb-2 text-xl font-bold text-gray-900">CLAP-AD TFv6</h3> |
| <p class="card-copy mb-4 text-sm leading-relaxed text-gray-600"> |
| TFv6 checkpoint for closed-loop evaluation on Bench2Drive-Speed. |
| </p> |
| <div class="metric mb-4 flex flex-wrap items-baseline gap-2 border-y border-gray-200 py-3"> |
| <strong class="text-3xl font-extrabold tracking-tight text-indigo-800">82.53</strong> |
| <span class="text-sm text-gray-600">Speed-Adherence Score</span> |
| </div> |
| <a class="card-link font-semibold text-indigo-700 hover:underline" |
| href="https://huggingface.co/clap-ad/clap-ad-tfv6" target="_blank" rel="noopener noreferrer">View checkpoint and details →</a> |
| </article> |
| <article class="model-card rounded-xl border border-gray-200 bg-gray-50 p-5"> |
| <span class="model-tag mb-3 inline-block rounded-full bg-blue-100 px-3 py-1 text-xs font-bold uppercase tracking-wide text-blue-800"> |
| NAVSIM v2.2 · navhard |
| </span> |
| <h3 class="card-subheading mb-2 text-xl font-bold text-gray-900">CLAP-AD LTFv6</h3> |
| <p class="card-copy mb-4 text-sm leading-relaxed text-gray-600"> |
| LTFv6 checkpoint adapted to NAVSIM's four-second planning horizon. |
| </p> |
| <div class="metric mb-4 flex flex-wrap items-baseline gap-2 border-y border-gray-200 py-3"> |
| <strong class="text-3xl font-extrabold tracking-tight text-blue-800">38.0</strong> |
| <span class="text-sm text-gray-600">Overall EPDMS · two-stage protocol</span> |
| </div> |
| <a class="card-link font-semibold text-indigo-700 hover:underline" |
| href="https://huggingface.co/clap-ad/clap-ad-ltfv6-navsim" target="_blank" rel="noopener noreferrer">View checkpoint and details →</a> |
| </article> |
| </div> |
| <p class="fine-print mt-4 text-xs leading-relaxed text-gray-500"> |
| Each model repository includes its checkpoint, configuration, |
| evaluation details, intended-use notes, and license information. |
| Scores follow the protocols documented in the model cards. |
| </p> |
| </section> |
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|
| <section class="about-grid grid grid-cols-1 gap-4 md:grid-cols-2"> |
| <div class="about-card rounded-2xl border border-gray-200 bg-white p-6 shadow-sm md:p-8"> |
| <p class="card-eyebrow mb-2 text-xs font-bold uppercase tracking-widest text-indigo-700"> |
| About the work |
| </p> |
| <h2 class="card-heading mb-3 text-2xl font-bold tracking-tight text-gray-900"> |
| From imitation to outcome-aware planning. |
| </h2> |
| <p class="card-copy text-sm leading-relaxed text-gray-600"> |
| CLAP-AD studies how speed selection and planning can account for |
| closed-loop driving outcomes. The method and experiments span both |
| CARLA and NAVSIM. |
| </p> |
| </div> |
| <div class="about-card rounded-2xl border border-gray-200 bg-white p-6 shadow-sm md:p-8"> |
| <p class="card-eyebrow mb-2 text-xs font-bold uppercase tracking-widest text-indigo-700"> |
| Intended use |
| </p> |
| <h2 class="card-heading mb-3 text-2xl font-bold tracking-tight text-gray-900"> |
| Research artifacts |
| </h2> |
| <p class="card-copy text-sm leading-relaxed text-gray-600"> |
| These checkpoints are for benchmark evaluation. They have not been |
| validated for real-vehicle deployment or other safety-critical use. |
| </p> |
| </div> |
| </section> |
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| <section class="citation-card rounded-2xl border border-gray-200 bg-white p-6 shadow-sm md:p-8"> |
| <p class="card-eyebrow mb-2 text-xs font-bold uppercase tracking-widest text-indigo-700"> |
| Citation |
| </p> |
| <h2 class="card-heading mb-4 text-2xl font-bold tracking-tight text-gray-900"> |
| Build on the research |
| </h2> |
| <pre class="overflow-x-auto rounded-lg border border-gray-200 bg-gray-50 p-4 text-xs leading-relaxed text-gray-800"><code>@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} |
| }</code></pre> |
| </section> |
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