# Autonomous Driving Planning on Nav (test)

Source: [Autonomous Driving Planning on Nav (test)](<https://www.sota2.com/research/sota/autonomous-driving-planning-on-nav-test>)

Collection index: [llms.txt](<https://www.sota2.com/research/llms.txt>)

Data updated: 2026-07-09T06:56:48.815Z

Evaluation of autonomous driving planning performance on the Nav test split, measured by NC, DAC, TTC, Comfort, EP, and PDMS.

A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage.

| Scope | Recorded value |
| --- | --- |
| Task | Autonomous Driving Planning |
| Dataset (including any stated split) | Nav (test) |
| Metric | NC |
| Unit | PERCENT |
| Direction | Higher is better |
| Results loaded | 28 of 28 |
| Coverage | All results currently returned for this benchmark |

Evaluation settings may differ between results. The original papers and recorded configurations are needed to establish comparability. A shared metric name alone does not establish an identical protocol.

## Metrics

- [NC](<https://www.sota2.com/research/sota/autonomous-driving-planning-on-nav-test.md?metric=NC>): Higher is better; unit: PERCENT.

- [DAC](<https://www.sota2.com/research/sota/autonomous-driving-planning-on-nav-test.md?metric=DAC>): Higher is better; unit: PERCENT.

- [TTC](<https://www.sota2.com/research/sota/autonomous-driving-planning-on-nav-test.md?metric=TTC>): Higher is better; unit: PERCENT.

- [Comfort Score](<https://www.sota2.com/research/sota/autonomous-driving-planning-on-nav-test.md?metric=Comfort%20Score>): Higher is better; unit: PERCENT.

- [EP](<https://www.sota2.com/research/sota/autonomous-driving-planning-on-nav-test.md?metric=EP>): Higher is better; unit: PERCENT.

- [PDMS](<https://www.sota2.com/research/sota/autonomous-driving-planning-on-nav-test.md?metric=PDMS>): Higher is better; unit: PERCENT.

- [DDC](<https://www.sota2.com/research/sota/autonomous-driving-planning-on-nav-test.md?metric=DDC>): Higher is better; unit: PERCENT.

- [TL](<https://www.sota2.com/research/sota/autonomous-driving-planning-on-nav-test.md?metric=TL>): Higher is better; unit: PERCENT.

- [LK](<https://www.sota2.com/research/sota/autonomous-driving-planning-on-nav-test.md?metric=LK>): Higher is better; unit: PERCENT.

- [HC](<https://www.sota2.com/research/sota/autonomous-driving-planning-on-nav-test.md?metric=HC>): Higher is better; unit: PERCENT.

- [EC](<https://www.sota2.com/research/sota/autonomous-driving-planning-on-nav-test.md?metric=EC>): Higher is better; unit: PERCENT.

- [EPDMS](<https://www.sota2.com/research/sota/autonomous-driving-planning-on-nav-test.md?metric=EPDMS>): Higher is better; unit: PERCENT.

## Recorded results

| Method | NC | Result date | Report paper |
| --- | --- | --- | --- |
| Human | 100 | Not recorded | 69f190b755a3c32af89fbc2f |
| Human Agent | 100 | Not recorded | 69019f713ef7ccd74e5e392e |
| GTRS-Dense | 99 | Not recorded | 69019f713ef7ccd74e5e392e |
| HydraMDP++ | 98.5 | Not recorded | 69019f713ef7ccd74e5e392e |
| DriveSuprim | 98.4 | Not recorded | 69019f713ef7ccd74e5e392e |
| HydraMDP++ | 98.4 | Not recorded | 69019f713ef7ccd74e5e392e |
| Hydra-MDP | 98.3 | Not recorded | 69f190b755a3c32af89fbc2f |
| FSDrive | 98.2 | Not recorded | 69f190b755a3c32af89fbc2f |
| ZTRS | 98.2 | Not recorded | 69019f713ef7ccd74e5e392e |
| DRAMA | 98 | Not recorded | 69f190b755a3c32af89fbc2f |
| ProDrive | 98 | Not recorded | 69f190b755a3c32af89fbc2f |
| VADv2 | 97.9 | Not recorded | 69f190b755a3c32af89fbc2f |
| PARA-Drive | 97.9 | Not recorded | 69f190b755a3c32af89fbc2f |
| Epona | 97.9 | Not recorded | 69f190b755a3c32af89fbc2f |
| ZTRS | 97.9 | Not recorded | 69019f713ef7ccd74e5e392e |
| UniAD | 97.8 | Not recorded | 69f190b755a3c32af89fbc2f |
| DriveSuprim | 97.8 | Not recorded | 69019f713ef7ccd74e5e392e |
| ZTRS | 97.8 | Not recorded | 69019f713ef7ccd74e5e392e |
| TransFuser | 97.7 | Not recorded | 69f190b755a3c32af89fbc2f |
| GTRS-Dense | 97.6 | Not recorded | 69019f713ef7ccd74e5e392e |
| DriveSuprim | 97.5 | Not recorded | 69019f713ef7ccd74e5e392e |
| LTF | 97.4 | Not recorded | 69f190b755a3c32af89fbc2f |
| World4Drive | 97.4 | Not recorded | 69f190b755a3c32af89fbc2f |
| HydraMDP++ | 97.2 | Not recorded | 69019f713ef7ccd74e5e392e |
| Transfuser | 96.9 | Not recorded | 69019f713ef7ccd74e5e392e |
| LAW | 96.4 | Not recorded | 69f190b755a3c32af89fbc2f |
| Ego Status MLP | 93.1 | Not recorded | 69019f713ef7ccd74e5e392e |
| AD-MLP | 93 | Not recorded | 69f190b755a3c32af89fbc2f |

### Human

NC: 100. Result ID: 69f1bb3a47f34ce924d81071.

[Reporting paper](<https://www.sota2.com/research/paper/69f190b755a3c32af89fbc2f.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### Human Agent

NC: 100. Result ID: 6a4f462360b88bb339e45d72.

[Reporting paper](<https://www.sota2.com/research/paper/69019f713ef7ccd74e5e392e.md>)

Recorded evaluation configuration: {"Backbone":"N/A","H-Demo":"N/A"}. This record does not assert independent reproduction.

### GTRS-Dense

NC: 99. Result ID: 6a4f462360b88bb339e45d7a.

[Reporting paper](<https://www.sota2.com/research/paper/69019f713ef7ccd74e5e392e.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa79411e209131cea7ce50.md>)

Recorded evaluation configuration: {"Backbone":"ViT-L","H-Demo":"true"}. This record does not assert independent reproduction.

### HydraMDP++

NC: 98.5. Result ID: 6a4f462360b88bb339e45d78.

[Reporting paper](<https://www.sota2.com/research/paper/69019f713ef7ccd74e5e392e.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa77751e209131cea733bb.md>)

Recorded evaluation configuration: {"Backbone":"ViT-L","H-Demo":"true"}. This record does not assert independent reproduction.

### DriveSuprim

NC: 98.4. Result ID: 6a4f462360b88bb339e45d79.

[Reporting paper](<https://www.sota2.com/research/paper/69019f713ef7ccd74e5e392e.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa79961e209131cea7e6b4.md>)

Recorded evaluation configuration: {"Backbone":"ViT-L","H-Demo":"true"}. This record does not assert independent reproduction.

### HydraMDP++

NC: 98.4. Result ID: 6a4f462360b88bb339e45d7c.

[Reporting paper](<https://www.sota2.com/research/paper/69019f713ef7ccd74e5e392e.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa77751e209131cea733bb.md>)

Recorded evaluation configuration: {"Backbone":"V2-99","H-Demo":"true"}. This record does not assert independent reproduction.

### Hydra-MDP

NC: 98.3. Result ID: 69f1bb3a47f34ce924d8107d.

[Reporting paper](<https://www.sota2.com/research/paper/69f190b755a3c32af89fbc2f.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa74a11e209131cea62c9a.md>)

[Implementation](<https://github.com/NVlabs/Hydra-MDP>)

Recorded evaluation configuration: {"Planning":"Reactive","Future Reasoning Mechanism":"Model-free Reranking"}. This record does not assert independent reproduction.

### FSDrive

NC: 98.2. Result ID: 69f1bb3a47f34ce924d8107a.

[Reporting paper](<https://www.sota2.com/research/paper/69f190b755a3c32af89fbc2f.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa78b71e209131cea79ff0.md>)

Recorded evaluation configuration: {"Planning":"Proactive","Future Reasoning Mechanism":"Visual Spatio-Temporal CoT"}. This record does not assert independent reproduction.

### ZTRS

NC: 98.2. Result ID: 6a4f462360b88bb339e45d7b.

[Reporting paper](<https://www.sota2.com/research/paper/69019f713ef7ccd74e5e392e.md>)

[Method origin paper](<https://www.sota2.com/research/paper/69019f713ef7ccd74e5e392e.md>)

Recorded evaluation configuration: {"Backbone":"ViT-L","H-Demo":"false"}. This record does not assert independent reproduction.

### DRAMA

NC: 98. Result ID: 69f1bb3a47f34ce924d8107b.

[Reporting paper](<https://www.sota2.com/research/paper/69f190b755a3c32af89fbc2f.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa747e1e209131cea61e6e.md>)

Recorded evaluation configuration: {"Planning":"Reactive"}. This record does not assert independent reproduction.

### ProDrive

NC: 98. Result ID: 69f1bb3a47f34ce924d8107e.

[Reporting paper](<https://www.sota2.com/research/paper/69f190b755a3c32af89fbc2f.md>)

[Method origin paper](<https://www.sota2.com/research/paper/69f190b755a3c32af89fbc2f.md>)

Recorded evaluation configuration: {"Planning":"Proactive","Future Reasoning Mechanism":"World-model Reranking"}. This record does not assert independent reproduction.

### VADv2

NC: 97.9. Result ID: 69f1bb3a47f34ce924d81073.

[Reporting paper](<https://www.sota2.com/research/paper/69f190b755a3c32af89fbc2f.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa72471e209131cea557e7.md>)

[Implementation](<https://github.com/hustvl/VAD>)

Recorded evaluation configuration: {"Planning":"Reactive","Future Reasoning Mechanism":"Rule-based Reranking"}. This record does not assert independent reproduction.

### PARA-Drive

NC: 97.9. Result ID: 69f1bb3a47f34ce924d81076.

[Reporting paper](<https://www.sota2.com/research/paper/69f190b755a3c32af89fbc2f.md>)

Recorded evaluation configuration: {"Planning":"Reactive","Future Reasoning Mechanism":"Rule-based Constraints"}. This record does not assert independent reproduction.

### Epona

NC: 97.9. Result ID: 69f1bb3a47f34ce924d8107c.

[Reporting paper](<https://www.sota2.com/research/paper/69f190b755a3c32af89fbc2f.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa79ca1e209131cea7f613.md>)

Recorded evaluation configuration: {"Planning":"Reactive","Future Reasoning Mechanism":"World-model Joint Training"}. This record does not assert independent reproduction.

### ZTRS

NC: 97.9. Result ID: 6a4f462360b88bb339e45d77.

[Reporting paper](<https://www.sota2.com/research/paper/69019f713ef7ccd74e5e392e.md>)

[Method origin paper](<https://www.sota2.com/research/paper/69019f713ef7ccd74e5e392e.md>)

Recorded evaluation configuration: {"Backbone":"ResNet34","H-Demo":"false"}. This record does not assert independent reproduction.

### UniAD

NC: 97.8. Result ID: 69f1bb3a47f34ce924d81074.

[Reporting paper](<https://www.sota2.com/research/paper/69f190b755a3c32af89fbc2f.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6ee71e209131cea42c46.md>)

[Implementation](<https://github.com/OpenDriveLab/UniAD>)

Recorded evaluation configuration: {"Planning":"Reactive","Future Reasoning Mechanism":"Rule-based Constraints"}. This record does not assert independent reproduction.

### DriveSuprim

NC: 97.8. Result ID: 6a4f462360b88bb339e45d7d.

[Reporting paper](<https://www.sota2.com/research/paper/69019f713ef7ccd74e5e392e.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa79961e209131cea7e6b4.md>)

Recorded evaluation configuration: {"Backbone":"V2-99","H-Demo":"true"}. This record does not assert independent reproduction.

### ZTRS

NC: 97.8. Result ID: 6a4f462360b88bb339e45d7f.

[Reporting paper](<https://www.sota2.com/research/paper/69019f713ef7ccd74e5e392e.md>)

[Method origin paper](<https://www.sota2.com/research/paper/69019f713ef7ccd74e5e392e.md>)

Recorded evaluation configuration: {"Backbone":"V2-99","H-Demo":"false"}. This record does not assert independent reproduction.

### TransFuser

NC: 97.7. Result ID: 69f1bb3a47f34ce924d81077.

[Reporting paper](<https://www.sota2.com/research/paper/69f190b755a3c32af89fbc2f.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa69cf1e209131cea2447f.md>)

[Implementation](<https://github.com/autonomousvision/transfuser>)

Recorded evaluation configuration: {"Planning":"Reactive"}. This record does not assert independent reproduction.

### GTRS-Dense

NC: 97.6. Result ID: 6a4f462360b88bb339e45d7e.

[Reporting paper](<https://www.sota2.com/research/paper/69019f713ef7ccd74e5e392e.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa79411e209131cea7ce50.md>)

Recorded evaluation configuration: {"Backbone":"V2-99","H-Demo":"true"}. This record does not assert independent reproduction.

### DriveSuprim

NC: 97.5. Result ID: 6a4f462360b88bb339e45d76.

[Reporting paper](<https://www.sota2.com/research/paper/69019f713ef7ccd74e5e392e.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa79961e209131cea7e6b4.md>)

Recorded evaluation configuration: {"Backbone":"ResNet34","H-Demo":"true"}. This record does not assert independent reproduction.

### LTF

NC: 97.4. Result ID: 69f1bb3a47f34ce924d81075.

[Reporting paper](<https://www.sota2.com/research/paper/69f190b755a3c32af89fbc2f.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6ca31e209131cea351d8.md>)

[Implementation](<https://github.com/autonomousvision/transfuser>)

Recorded evaluation configuration: {"Planning":"Reactive"}. This record does not assert independent reproduction.

### World4Drive

NC: 97.4. Result ID: 69f1bb3a47f34ce924d81079.

[Reporting paper](<https://www.sota2.com/research/paper/69f190b755a3c32af89fbc2f.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa79cf1e209131cea7f7de.md>)

Recorded evaluation configuration: {"Planning":"Reactive","Future Reasoning Mechanism":"World-model Reranking"}. This record does not assert independent reproduction.

### HydraMDP++

NC: 97.2. Result ID: 6a4f462360b88bb339e45d75.

[Reporting paper](<https://www.sota2.com/research/paper/69019f713ef7ccd74e5e392e.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa77751e209131cea733bb.md>)

Recorded evaluation configuration: {"Backbone":"ResNet34","H-Demo":"true"}. This record does not assert independent reproduction.

### Transfuser

NC: 96.9. Result ID: 6a4f462360b88bb339e45d74.

[Reporting paper](<https://www.sota2.com/research/paper/69019f713ef7ccd74e5e392e.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6ca31e209131cea351d8.md>)

[Implementation](<https://github.com/autonomousvision/transfuser>)

Recorded evaluation configuration: {"Backbone":"ResNet34","H-Demo":"true"}. This record does not assert independent reproduction.

### LAW

NC: 96.4. Result ID: 69f1bb3a47f34ce924d81078.

[Reporting paper](<https://www.sota2.com/research/paper/69f190b755a3c32af89fbc2f.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa77261e209131cea71614.md>)

[Implementation](<https://github.com/BraveGroup/LAW>)

Recorded evaluation configuration: {"Planning":"Proactive","Future Reasoning Mechanism":"World-model Joint Training"}. This record does not assert independent reproduction.

### Ego Status MLP

NC: 93.1. Result ID: 6a4f462360b88bb339e45d73.

[Reporting paper](<https://www.sota2.com/research/paper/69019f713ef7ccd74e5e392e.md>)

Recorded evaluation configuration: {"Backbone":"N/A","H-Demo":"true"}. This record does not assert independent reproduction.

### AD-MLP

NC: 93. Result ID: 69f1bb3a47f34ce924d81072.

[Reporting paper](<https://www.sota2.com/research/paper/69f190b755a3c32af89fbc2f.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa70f21e209131cea4e44d.md>)

[Implementation](<https://github.com/E2E-AD/AD-MLP>)

Recorded evaluation configuration: {"Planning":"Reactive"}. This record does not assert independent reproduction.

Page 1 of 1. This is an index page, not the full collection.