Autonomous Driving on NAVSIM (test)
94.8PDMSHuman
Evaluation results
| Method | Links | |||||||
|---|---|---|---|---|---|---|---|---|
| Human2024.06 | 94.8 | 100 | 100 | 100 | 99.9 | 87.5 | — | |
| Human2025.04 | 94.8 | 100 | 100 | 100 | 99.9 | 87.5 | — | |
| DriveSaferSensor Input=C & L2026.05 | 90.3 | 98.3 | 98.7 | 94.6 | 100 | 84.4 | — | |
| Uni-World VLAInput=SC2026.03 | 89.4 | 98.7 | 96.7 | 96.1 | 100 | 83.2 | — | |
| Drive-JEPAEncoder size=307M, Data scale=208h2026.01 | 89 | — | — | — | — | — | — | |
| ResWorldInput=C&L2026.03 | 89 | 98.9 | 96.5 | 95.6 | 100 | 83.1 | — | |
| WoTEInput=C & L, #Traj.=256, Traj. Eval.=Model-based2025.04 | 88.3 | 98.5 | 96.8 | 94.9 | 99.9 | 81.9 | — | |
| WoTEInput=C&L2026.03 | 88.3 | 98.5 | 96.8 | 94.9 | 99.9 | 81.9 | — | |
| WoTESensor Input=C & L2026.05 | 88.3 | 98.5 | 96.8 | 94.9 | 99.9 | 81.9 | — | |
| DiffusionDriveInput=C&L2026.03 | 88.1 | 98.2 | 96.2 | 94.7 | 100 | 82.2 | — | |
| PWMInput=SC2026.03 | 88.1 | 98.6 | 95.9 | 95.4 | 100 | 81.8 | — | |
| DiffusionDriveSensor Input=C & L2026.05 | 88.1 | 98.2 | 96.2 | 94.7 | 100 | 82.2 | — | |
| SGDrive-ILInput=SC2026.03 | 87.4 | 98.6 | 95.1 | 95.4 | 100 | 81.2 | — | |
| DriveVLA-W0Input=SC2026.03 | 87.2 | 98.4 | 95.3 | 95.4 | 100 | 80.9 | — | |
| ImagiDrive-AInput=SC2026.03 | 86.9 | 98.1 | 96.2 | 94.4 | 100 | 80.1 | — | |
| Hydra-MDPInput=C & L, #Traj.=8192, Traj. Eval.=Model-free2025.04 | 86.5 | 98.3 | 96 | 94.6 | 100 | 78.7 | — | |
| ReCogDrive-ILInput=SC2026.03 | 86.5 | 98.1 | 94.7 | 94.2 | 100 | 80.9 | — | |
| Hydra-MDPSensor Input=C & L2026.05 | 86.5 | 98.3 | 96 | 94.6 | 100 | 78.7 | — | |
| EponaInput=SC2026.03 | 86.2 | 97.9 | 95.1 | 93.8 | 99.9 | 80.4 | — | |
| EponaEncoder size=1.1B, Data scale=128h2026.01 | 86.1 | — | — | — | — | — | — | |
| DRAMAInput=C & L, #Traj.=1, Traj. Eval.=X2025.04 | 85.5 | 98 | 93.1 | 94.8 | 100 | 80.1 | — | |
| DRAMASensor Input=C & L2026.05 | 85.5 | 98 | 93.1 | 94.8 | 100 | 80.1 | — | |
| World4DriveEncoder size=21M, Data scale=~20h2026.01 | 85.1 | — | — | — | — | — | — | |
| LAWsetting=perception-free2024.06 | 84.6 | 96.4 | 95.4 | 88.7 | 99.9 | 81.7 | — | |
| LAWInput=C, #Traj.=1, Traj. Eval.=X2025.04 | 84.6 | 96.4 | 95.4 | 88.7 | 99.9 | 81.7 | — | |
| LAWLifting=—, Prediction=waypoints2026.02 | 84.6 | 96.4 | 95.4 | 88.7 | 99.9 | 81.7 | — | |
| CIL++Lifting=F_MLP, Prediction=waypoints2026.02 | 84.5 | 96.5 | 94.6 | 91.8 | 100 | 79.3 | — | |
| DriveXSensor Input=Camera2026.05 | 84.5 | 97.5 | 94 | 93 | 100 | 79.7 | — | |
| TransFuser2024.06 | 84 | 97.7 | 92.8 | 92.8 | 100 | 79.2 | — | |
| PARA-Drive2024.06 | 84 | 97.9 | 92.4 | 93 | 99.8 | 79.3 | — | |
| PARA-DriveInput=C, #Traj.=1, Traj. Eval.=Rule-based2025.04 | 84 | 97.9 | 92.4 | 93 | 99.8 | 79.3 | — | |
| TransFuserInput=C & L, #Traj.=1, Traj. Eval.=X2025.04 | 84 | 97.7 | 92.8 | 92.8 | 100 | 79.2 | — | |
| TransFuserInput=C&L2026.03 | 84 | 97.7 | 92.8 | 92.8 | 100 | 79.2 | — | |
| PARA-DriveSensor Input=Camera2026.05 | 84 | 97.9 | 92.4 | 93 | 99.8 | 79.3 | — | |
| LAWSensor Input=Camera2026.05 | 84 | 97.9 | 92.4 | 93 | 99.8 | 79.3 | — | |
| TransfuserSensor Input=C & L2026.05 | 84 | 97.7 | 92.8 | 92.8 | 100 | 79.2 | — | |
| LTFInput=C, #Traj.=1, Traj. Eval.=X2025.04 | 83.8 | 97.4 | 92.8 | 92.4 | 100 | 79 | — | |
| LTFLifting=—, Prediction=waypoints2026.02 | 83.8 | 97.4 | 92.8 | 92.4 | 100 | 79 | — | |
| LAWEncoder size=21M, Data scale=~20h2026.01 | 83.8 | — | — | — | — | — | — | |
| LTFSensor Input=Camera2026.05 | 83.8 | 97.4 | 92.8 | 92.4 | 100 | 79 | — | |
| MILELifting=F_MLP, Prediction=waypoints2026.02 | 83.5 | 96.7 | 93.7 | 91.7 | 100 | 78 | — | |
| UniAD2024.06 | 83.4 | 97.8 | 91.9 | 92.9 | 100 | 78.8 | — | |
| UniADInput=C, #Traj.=1, Traj. Eval.=Rule-based2025.04 | 83.4 | 97.8 | 91.9 | 92.9 | 100 | 78.8 | — | |
| UniADLifting=—, Prediction=waypoints2026.02 | 83.4 | 97.8 | 91.9 | 92.9 | 100 | 78.8 | — | |
| UniADInput=C2026.03 | 83.4 | 97.8 | 91.9 | 92.9 | 100 | 78.8 | — | |
| UniADSensor Input=Camera2026.05 | 83.4 | 97.8 | 91.9 | 92.9 | 100 | 78.8 | — | |
| CIL++Lifting=F_KBM, Prediction=actions2026.02 | 83.3 | 95.6 | 94.7 | 89.8 | 100 | 78.3 | — | |
| VADv2Input=C, #Traj.=8192, Traj. Eval.=Rule-based2025.04 | 83 | 97.9 | 91.7 | 92.9 | 100 | 77.6 | — | |
| MILELifting=F_CCPP, Prediction=actions2026.02 | 82.8 | 96.1 | 93.8 | 90.6 | 100 | 77.5 | — | |
| MILELifting=F_KBM, Prediction=actions2026.02 | 82.7 | 95.5 | 94.3 | 89.8 | 100 | 77.4 | — | |
| CIL++Lifting=F_CCPP, Prediction=actions2026.02 | 82.5 | 95.9 | 93.7 | 90.1 | 100 | 77.4 | — | |
| DrivingGPTInput=SC2026.03 | 82.4 | 98.9 | 90.7 | 94.9 | 95.6 | 79.7 | — | |
| VADv2-ν8192Input=C2026.03 | 80.9 | 97.2 | 89.1 | 91.6 | 100 | 76 | — | |
| VADv2Sensor Input=C & L2026.05 | 80.9 | 97.2 | 89.1 | 91.6 | 100 | 76 | — | |
| Ego Status MLP2024.06 | 65.6 | 93 | 77.3 | 83.6 | 100 | 62.8 | — | |
| Ego Status MLP#Traj.=1, Traj. Eval.=X2025.04 | 65.6 | 93 | 77.3 | 83.6 | 100 | 62.8 | — | |
| Ego MLPLifting=—, Prediction=waypoints2026.02 | 65.6 | 93 | 77.3 | 83.6 | 100 | 62.8 | — | |
| Ego Status MLP2026.05 | 65.6 | 93 | 77.3 | 83.6 | 100 | 62.8 | — | |
| Constant Velocity2024.06 | 21.6 | 69.9 | 58.8 | 49.3 | 100 | 49.3 | — | |
| Constant Velocity#Traj.=1, Traj. Eval.=X2025.04 | 21.6 | 69.9 | 58.8 | 49.3 | 100 | 49.3 | — | |
| CVLifting=—, Prediction=waypoints2026.02 | 20.6 | 68 | 57.8 | 50 | 100 | 19.4 | — | |
| Constant Velocity2026.05 | 20.6 | 68 | 57.8 | 50 | 100 | 19.4 | — | |
| MPC-DKModel=Learned DKO dynamics2026.03 | — | — | — | — | — | — | 244.3 | |
| MPPI (True)Dynamics=True system dynamics2026.03 | — | — | — | — | — | — | 2,041.7 | |
| MPPI-DKHardware=GPU2026.03 | — | — | — | — | — | — | 17.9 | |
| MPPI-DKHardware=CPU2026.03 | — | — | — | — | — | — | 332 |