Autonomous Driving on NAVSIM v2 (test)
99.4NCDrivoR
Evaluation results
| Method | Links | |||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
| DrivoRAugmentation=None2026.06 | 99.4 | 99.2 | 99.8 | 99.9 | 76.6 | 99.4 | 94.9 | — | 71.7 | 87.2 | 98.3 | |
| CoPhy2026.05 | 99.3 | 97.6 | 97.3 | 100 | 83.6 | 99.1 | 96.8 | 97.4 | 80 | 86.1 | — | |
| GTRS-DenseAugmentation=None2026.06 | 99.1 | 98.3 | 99.6 | 99.9 | 82.8 | 99.2 | 94.8 | — | 47.5 | 85.4 | 98 | |
| DrivoR + PriorEyeAugmentation=PriorEye2026.06 | 99.1 | 99.6 | 99.8 | 99.9 | 81.5 | 99.1 | 95.9 | — | 82.5 | 89.9 | 98.3 | |
| GTRS-Dense + PriorEyeAugmentation=PriorEye2026.06 | 98.7 | 99.1 | 99.8 | 99.9 | 85 | 98.8 | 96.7 | — | 67.5 | 88.8 | 98.2 | |
| DiffusionDrive (SimScale-planner)Model=DiffusionDrive, Settings=SimScale-planner, Real data volume=85K, Synthetic data volume=237K2026.05 | 98.5 | 97.1 | 99.6 | 99.8 | 87.4 | 97.8 | 98 | — | 87.5 | 85.9 | 98.3 | |
| AutoScale (DiffusionDrive, 50K)Model=DiffusionDrive, Settings=AutoScale, Real data volume=85K, Synthetic data volume=50K2026.05 | 98.5 | 96.8 | 99.6 | 99.8 | 87.4 | 97.7 | 97.6 | — | 87.7 | 85.6 | 98.3 | |
| AutoScale (DiffusionDrive, 100K)Model=DiffusionDrive, Settings=AutoScale, Real data volume=85K, Synthetic data volume=100K2026.05 | 98.5 | 97 | 99.6 | 99.8 | 87.5 | 97.7 | 97.4 | — | 87.9 | 85.9 | 98.3 | |
| DiffusionDrive (Real Data)Model=DiffusionDrive, Settings=Real Data, Real data volume=85K, Synthetic data volume=-2026.05 | 98.4 | 95.5 | 99.5 | 99.8 | 87.5 | 97.5 | 96.9 | — | 87.7 | 84.2 | 98.4 | |
| DiffusionDrive (SimScale-recovery)Model=DiffusionDrive, Settings=SimScale-recovery, Real data volume=85K, Synthetic data volume=147K2026.05 | 98.4 | 96.7 | 99.6 | 99.8 | 87.6 | 97.5 | 97.5 | — | 87.1 | 85.4 | 98.3 | |
| ARTEMISVenue=RAL’252026.05 | 98.3 | 95.1 | 98.6 | 99.8 | 81.5 | 97.4 | 96.5 | 98.3 | — | 83.1 | — | |
| TransFuser (SimScale-planner)Model=TransFuser, Settings=SimScale-planner, Real data volume=85K, Synthetic data volume=237K2026.05 | 98.3 | 95.6 | 99.6 | 99.8 | 87.1 | 97.5 | 97.2 | — | 88.2 | 84.4 | 98.3 | |
| DiffusionDriveVenue=CVPR’252026.05 | 98.2 | 95.9 | 99.4 | 99.8 | 87.5 | 97.3 | 96.8 | 98.3 | 87.7 | 84.5 | — | |
| AutoScale (TransFuser, 50K)Model=TransFuser, Settings=AutoScale, Real data volume=85K, Synthetic data volume=50K2026.05 | 98.1 | 95.8 | 99.4 | 99.9 | 86.7 | 97.5 | 97.4 | — | 87.3 | 84.1 | 98.3 | |
| ResADVenue=CVPR’262026.05 | 97.8 | 97.2 | 99.5 | 99.8 | 88.2 | 96.9 | 97 | 98.4 | 88.2 | 85.5 | — | |
| AutoScale (TransFuser, 100K)Model=TransFuser, Settings=AutoScale, Real data volume=85K, Synthetic data volume=100K2026.05 | 97.8 | 96.1 | 99.7 | 99.8 | 88.3 | 97 | 97 | — | 87.6 | 84.5 | 98.3 | |
| LTFAugmentation=None2026.06 | 97.8 | 92.5 | 99.1 | 99.8 | 87.8 | 97.4 | 96.3 | — | 87 | 84.3 | 98.3 | |
| TransFuser (Real Data)Model=TransFuser, Settings=Real Data, Real data volume=85K, Synthetic data volume=-2026.05 | 97.7 | 94 | 99.3 | 99.8 | 87.2 | 96.7 | 95.5 | — | 82.9 | 81.5 | 98.3 | |
| LTF + PriorEyeAugmentation=PriorEye2026.06 | 97.6 | 95.1 | 99.5 | 99.8 | 87.8 | 97.4 | 97.4 | — | 87 | 86.8 | 98.3 | |
| DriveSuprimVenue=AAAI’262026.05 | 97.5 | 96.5 | 99.4 | 99.6 | 88.4 | 96.6 | 95.5 | 98.3 | 77 | 83.1 | — | |
| GTRS-DP + PriorEyeAugmentation=PriorEye2026.06 | 97.5 | 92.7 | 98.7 | 99.8 | 85.9 | 97.1 | 95.6 | — | 78.3 | 82.5 | 98.2 | |
| GTRS-DPAugmentation=None2026.06 | 97.3 | 92.3 | 98.6 | 99.7 | 86.4 | 97 | 95.3 | — | 79.4 | 82.2 | 98.1 | |
| HydraMDP++Venue=arXiv’252026.05 | 97.2 | 97.5 | 99.4 | 99.6 | 83.1 | 96.5 | 94.4 | 98.2 | 70.9 | 81.4 | — | |
| TransFuser (SimScale-recovery)Model=TransFuser, Settings=SimScale-recovery, Real data volume=85K, Synthetic data volume=147K2026.05 | 97.2 | 92.8 | 99.6 | 99.8 | 88.8 | 96.4 | 96.7 | — | 86.8 | 83.6 | 98.3 | |
| TransfuserVenue=CVPR’212026.05 | 96.9 | 89.9 | 97.8 | 99.7 | 87.1 | 95.4 | 92.7 | 98.3 | 87.2 | 76.7 | — |