Autonomous Driving Motion Planning on Navsim Navhard v2 (test)
96.8NCDiffusionDrive
Evaluation Results
| Method | Links | ||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|
| DiffusionDriveStage=S1, LiDAR input=false2025.12 | 96.8 | 88.2 | 99.3 | 99.3 | 84.5 | 94.6 | 95.5 | 97.5 | 79.1 | 28.9 | |
| LTFStage=S12025.12 | 96.2 | 79.5 | 99.1 | 99.5 | 84.1 | 95.1 | 94.2 | 97.5 | 79.1 | 23.1 | |
| GoalFlowStage=S1, LiDAR input=false2025.12 | 96 | 92.6 | 99.3 | 99.3 | 84 | 95.7 | 97.1 | 97.5 | 40.4 | 28.7 | |
| MimirStage=S12025.12 | 95.6 | 92.2 | 99.7 | 99.5 | 84 | 94.6 | 98 | 97.5 | 78.2 | 34.6 | |
| MLPStage=S12025.12 | 93.2 | 55.7 | 86.6 | 99.3 | 81.2 | 92.2 | 83.5 | 97.5 | 77.7 | 12.7 | |
| CVStage=S12025.12 | 88.8 | 42.8 | 70.6 | 99.3 | 77.5 | 87.3 | 78.6 | 97.1 | 60.4 | 10.9 | |
| CVStage=S22025.12 | 83.2 | 59.1 | 76.5 | 98 | 71.3 | 81.1 | 47.9 | 97.1 | 61.9 | 10.9 | |
| MimirStage=S22025.12 | 80.6 | 77.1 | 89.3 | 97.7 | 86.4 | 77.3 | 48.8 | 94.5 | 64 | 34.6 | |
| DiffusionDriveStage=S2, LiDAR input=false2025.12 | 80.3 | 74.4 | 86.1 | 98.4 | 87.4 | 76.9 | 50.4 | 95.5 | 69.4 | 28.9 | |
| GoalFlowStage=S2, LiDAR input=false2025.12 | 79.4 | 78.2 | 86.4 | 97.7 | 86.5 | 76 | 45.5 | 94.4 | 40.4 | 28.7 | |
| LTFStage=S22025.12 | 77.7 | 70.2 | 84.2 | 98 | 85.1 | 75.6 | 45.4 | 95.7 | 75.9 | 23.1 | |
| MLPStage=S22025.12 | 77.2 | 51.9 | 74.4 | 98.2 | 77.1 | 75 | 40.8 | 97.8 | 79.8 | 12.7 |