Autonomous Driving Planning on NAVSIM Navhard v2
99.4NCClover
Evaluation results
| Method | Links | ||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| CloverEvaluation Stage=Stage 12026.05 | 99.4 | 98 | 99.9 | 100 | 75.7 | 98.9 | 94.4 | 97.1 | 56 | — | — | — | |
| GTRS w/ SimScaleStage=Stage 12026.03 | 99.1 | 98.2 | 99.8 | 100 | 71.9 | 99.3 | 95.6 | 93.8 | 28 | 47.2 | — | — | |
| ETA-VLAStage=Stage 12026.03 | 98.9 | 98.4 | 99.3 | 99.6 | 85.2 | 99.1 | 99.1 | 97.8 | 73.3 | 48 | — | — | |
| GTRS-DEvaluation Stage=Stage 12026.05 | 98.9 | 96.2 | 99.4 | 99.3 | 72.9 | 98.9 | 95.1 | 96.9 | 39.1 | — | — | — | |
| GTRS-AEvaluation Stage=Stage 12026.05 | 98.9 | 95.1 | 99.1 | 99.6 | 76.2 | 99.1 | 94.9 | 97.6 | 54.2 | — | — | — | |
| DriveSuprimBackbone=V2-99, Stage=Stage 12026.06 | 98.9 | 95.1 | 99.2 | 99.6 | 76.1 | 99.1 | 94.7 | 97.6 | 54.2 | 42.1 | — | — | |
| DrivoREvaluation Stage=Stage 12026.05 | 98.8 | 95.1 | 98.9 | 100 | 72.6 | 98.7 | 94 | 97.6 | 73.3 | — | — | — | |
| SpanVLAStage=12026.04 | 98.4 | 94.3 | 97.8 | 99.9 | 85.7 | 97.2 | 94.2 | 97.6 | 72.1 | 40.1 | — | — | |
| SpanVLABackbone=Qwen2.5-VL-3B, Stage=Stage 12026.06 | 98.4 | 94.3 | 97.8 | 99.9 | 85.7 | 97.2 | 94.2 | 97.6 | 72.1 | 40.1 | — | — | |
| TransFuserData Strategy=AutoScale, Real Samples=85K, Synthetic Samples=100K, Stage=S12026.05 | 98.1 | 87.8 | 98.9 | 99.3 | 83.8 | 97.1 | 96.2 | 97.6 | 80.9 | — | — | — | |
| TransFuserSettings=AutoScale, Real=85K, Synthetic=100K, Stage=S12026.05 | 98.1 | 87.8 | 98.9 | 99.3 | 83.8 | 97.1 | 96.2 | 97.6 | 80.9 | — | — | — | |
| GraphWorldBackbone=ResNet-34, Stage=Stage 12026.06 | 98.1 | 97.9 | 97.9 | 98 | 83.9 | 97.8 | 97.2 | 95.4 | 64.5 | — | — | — | |
| DiffusionDriveData Strategy=AutoScale, Real Samples=85K, Synthetic Samples=100K, Stage=S12026.05 | 97.9 | 89.1 | 99.2 | 99.3 | 84.3 | 97.1 | 98 | 97.8 | 77.8 | — | — | — | |
| DiffusionDriveSettings=AutoScale, Real=85K, Synthetic=100K, Stage=S12026.05 | 97.9 | 89.1 | 99.2 | 99.3 | 84.3 | 97.1 | 98 | 97.8 | 77.8 | — | — | — | |
| TransFuserData Strategy=AutoScale, Real Samples=85K, Synthetic Samples=50K, Stage=S12026.05 | 97.4 | 85.1 | 99.6 | 100 | 83.5 | 96.7 | 96.4 | 97.8 | 76.4 | — | — | — | |
| TransFuserSettings=AutoScale, Real=85K, Synthetic=50K, Stage=S12026.05 | 97.4 | 85.1 | 99.6 | 100 | 83.5 | 96.7 | 96.4 | 97.8 | 76.4 | — | — | — | |
| TransFuserData Strategy=Real Data, Real Samples=85K, Stage=S12026.05 | 97.3 | 80.2 | 97.8 | 99.3 | 83.4 | 96.2 | 92.9 | 97.8 | 71.1 | — | — | — | |
| TransFuserSettings=Real Data, Real=85K, Synthetic=-, Stage=S12026.05 | 97.3 | 80.2 | 97.8 | 99.3 | 83.4 | 96.2 | 92.9 | 97.8 | 71.1 | — | — | — | |
| World4DriveBackbone=ResNet-34, Stage=Stage 12026.06 | 97.3 | 89.1 | 97.6 | 99.7 | 60.5 | 96.8 | 87.7 | 93.1 | 60 | 34.9 | — | — | |
| DiffusionDriveData Strategy=SimScale-recovery, Real Samples=85K, Synthetic Samples=147K, Stage=S12026.05 | 97.2 | 88.4 | 99.1 | 99.8 | 83.9 | 96 | 96.7 | 97.6 | 76.9 | — | — | — | |
| DiffusionDriveData Strategy=SimScale-planner, Real Samples=85K, Synthetic Samples=237K, Stage=S12026.05 | 97.2 | 88.7 | 99.3 | 99.3 | 82.8 | 96.9 | 98 | 97.3 | 59.6 | — | — | — | |
| DiffusionDriveData Strategy=AutoScale, Real Samples=85K, Synthetic Samples=50K, Stage=S12026.05 | 97.2 | 86.2 | 99.2 | 99.3 | 84.4 | 96.4 | 97.3 | 97.6 | 80 | — | — | — | |
| DiffusionDriveSettings=SimScale-recovery, Real=85K, Synthetic=147K, Stage=S12026.05 | 97.2 | 88.4 | 99.1 | 99.8 | 83.9 | 96 | 96.7 | 97.6 | 76.9 | — | — | — | |
| DiffusionDriveSettings=SimScale-planner, Real=85K, Synthetic=237K, Stage=S12026.05 | 97.2 | 88.7 | 99.3 | 99.3 | 82.8 | 96.9 | 98 | 97.3 | 59.6 | — | — | — | |
| DiffusionDriveSettings=AutoScale, Real=85K, Synthetic=50K, Stage=S12026.05 | 97.2 | 86.2 | 99.2 | 99.3 | 84.4 | 96.4 | 97.3 | 97.6 | 80 | — | — | — | |
| RAPStage=12026.04 | 97.1 | 94.4 | 98.8 | 99.8 | 83.9 | 96.9 | 94.7 | 96.4 | 66.2 | 36.9 | — | — | |
| RAP-DINOEvaluation Stage=Stage 12026.05 | 97.1 | 94.4 | 98.8 | 99.8 | 83.9 | 96.9 | 94.7 | 96.4 | 66.2 | — | — | — | |
| RAP-DINOBackbone=VIT, Stage=Stage 12026.06 | 97.1 | 94.4 | 98.8 | 99.8 | 83.9 | 96.9 | 94.7 | 96.4 | 66.2 | 36.9 | — | — | |
| DiffusionDriveData Strategy=Real Data, Real Samples=85K, Stage=S12026.05 | 96.8 | 86 | 98.8 | 99.3 | 84 | 95.8 | 96.7 | 97.6 | 79.6 | — | — | — | |
| DiffusionDriveSettings=Real Data, Real=85K, Synthetic=-, Stage=S12026.05 | 96.8 | 86 | 98.8 | 99.3 | 84 | 95.8 | 96.7 | 97.6 | 79.6 | — | — | — | |
| GuideFlowStage=Stage I, Backbone=ResNet-342025.12 | 96.6 | 80.5 | 96.3 | 99.3 | 82.3 | 94.9 | 91.5 | 97.7 | 67.8 | — | — | — | |
| GuideFlowStage=Stage 12025.07 | 96.6 | 80.5 | 96.3 | 99.3 | 82.3 | 94.9 | 91.5 | 97.7 | 67.8 | 27.1 | — | — | |
| GuideFlowBackbone=ResNet-34, Stage=Stage 12026.06 | 96.6 | 80.5 | 96.3 | 99.3 | 82.3 | 94.9 | 91.5 | 97.7 | 67.8 | 27.1 | — | — | |
| DIVERStage=Stage 12025.07 | 96.4 | 80.2 | 96 | 98.8 | 82.1 | 94.2 | 90.6 | 96.5 | 65.2 | 26.8 | — | — | |
| TransFuserData Strategy=SimScale-recovery, Real Samples=85K, Synthetic Samples=147K, Stage=S12026.05 | 96.4 | 78.4 | 98.9 | 99.8 | 80.5 | 96.2 | 92.7 | 97.6 | 78.2 | — | — | — | |
| TransFuserSettings=SimScale-recovery, Real=85K, Synthetic=147K, Stage=S12026.05 | 96.4 | 78.4 | 98.9 | 99.8 | 80.5 | 96.2 | 92.7 | 97.6 | 78.2 | — | — | — | |
| LTFStage=Stage I, Backbone=ResNet-342025.12 | 96.2 | 79.5 | 99.1 | 99.5 | 83.1 | 95.1 | 94.2 | 97.5 | 79.1 | — | — | — | |
| TransfuserStage=Stage 12026.03 | 96.2 | 79.5 | 99.1 | 99.5 | 84.1 | 95.1 | 94.2 | 97.5 | 79.1 | 23.1 | — | — | |
| LTFStage=12026.04 | 96.2 | 79.6 | 99.1 | 99.6 | 84.1 | 95.1 | 94.2 | 97.6 | 79.1 | 23.1 | — | — | |
| LTFStage=Stage 12025.07 | 96.2 | 79.5 | 99.1 | 99.5 | 84.1 | 95.1 | 94.2 | 97.5 | 79.1 | 23.1 | — | — | |
| TransFuserBackbone=ResNet-34, Stage=Stage 12026.06 | 96.2 | 79.5 | 99.1 | 99.5 | 84.1 | 95.1 | 94.2 | 97.5 | 79.1 | 23.1 | — | — | |
| MindDriveStage=Stage I, Backbone=ResNet-342025.12 | 96.1 | 86 | 98.8 | 99.3 | 83.3 | 95.6 | 94.4 | 97.6 | 74.7 | — | — | — | |
| MindDriveStage=Stage 12025.07 | 96.1 | 86 | 98.8 | 99.3 | 83.3 | 95.6 | 94.4 | 97.6 | 74.7 | 30.5 | — | — | |
| TransFuserData Strategy=SimScale-planner, Real Samples=85K, Synthetic Samples=237K, Stage=S12026.05 | 96.1 | 85.3 | 99.4 | 99.3 | 84.7 | 94.7 | 93.6 | 97.6 | 77.3 | — | — | — | |
| TransFuserSettings=SimScale-planner, Real=85K, Synthetic=237K, Stage=S12026.05 | 96.1 | 85.3 | 99.4 | 99.3 | 84.7 | 94.7 | 93.6 | 97.6 | 77.3 | — | — | — | |
| MindDriveBackbone=ResNet-34, Stage=Stage 12026.06 | 96.1 | 86 | 98.8 | 99.3 | 83.3 | 95.6 | 94.4 | 97.6 | 74.7 | 30.9 | — | — | |
| DiffusionDriveStage=Stage I, Backbone=ResNet-342025.12 | 96 | 79.7 | 97.4 | 99.5 | 81.3 | 93.1 | 90.8 | 96.8 | 73.8 | — | — | — | |
| DiffusionDriveStage=Stage 12025.07 | 96 | 79.7 | 97.4 | 99.5 | 81.3 | 93.1 | 90.8 | 96.8 | 73.8 | 24.2 | — | — | |
| DiffusionDriveBackbone=ResNet-34, Stage=Stage 12026.06 | 96 | 79.7 | 97.4 | 99.5 | 81.3 | 93.1 | 90.8 | 96.8 | 73.8 | 24.2 | — | — | |
| DiffusionDriveStage=Stage 12026.03 | 95.9 | 84 | 98.6 | 99.8 | 84.4 | 96 | 95.1 | 97.6 | 71.1 | 26 | — | — | |
| DiffVLABackbone=V2-99 + ViT-L/14, Stage=Stage 12026.06 | 95.7 | 99.2 | 100 | 100 | 85.9 | 96.4 | 97.1 | 95 | 84.2 | 45 | — | — | |
| Senna-E2EStage=Stage 12026.03 | 95.6 | 86 | 98.9 | 99.6 | 83.9 | 95.1 | 95.3 | 97.6 | 75.6 | 27.2 | — | — | |
| GTRS-DPStage=Stage I, Backbone=ResNet-342025.12 | 94.7 | 78.8 | 96.1 | 99.5 | 83 | 94.4 | 92 | 97.5 | 72.8 | — | — | — | |
| PDM-ClosedStage=Stage 12026.03 | 94.4 | 98.8 | 100 | 99.5 | 100 | 93.5 | 99.3 | 87.7 | 36 | 51.3 | — | — | |
| GTRS w/ SimScaleStage=Stage 22026.03 | 92.3 | 93.8 | 94.9 | 99.3 | 75.4 | 90.7 | 60.3 | 95.9 | 37.4 | 47.2 | — | — | |
| World4DriveBackbone=ResNet-34, Stage=Stage 22026.06 | 91.4 | 82 | 91 | 98.5 | 53.1 | 90.6 | 52.3 | 93.3 | 62.8 | — | — | — | |
| GTRS-DEvaluation Stage=Stage 22026.05 | 91.2 | 89.4 | 94.4 | 98.8 | 69.5 | 90 | 54.3 | 94 | 48.7 | — | — | — | |
| DrivoREvaluation Stage=Stage 22026.05 | 90.2 | 88.4 | 91.9 | 98.6 | 70 | 88 | 50.1 | 98.5 | 76.2 | — | — | — | |
| CloverEvaluation Stage=Stage 22026.05 | 89.8 | 88.2 | 93.2 | 99 | 74.2 | 87.7 | 52.6 | 97 | 57.3 | — | — | — | |
| TransFuserData Strategy=SimScale-recovery, Real Samples=85K, Synthetic Samples=147K, Stage=S22026.05 | 88.9 | 71.1 | 91.8 | 99 | 77.3 | 85.5 | 53.8 | 96.8 | 47.5 | 29.8 | — | — | |
| TransFuserSettings=SimScale-recovery, Real=85K, Synthetic=147K, Stage=S22026.05 | 88.9 | 71.1 | 91.8 | 99 | 77.3 | 85.5 | 53.8 | 96.8 | 47.5 | 29.8 | — | — | |
| GraphWorldBackbone=ResNet-34, Stage=Stage 22026.06 | 88.6 | 85.9 | 92.2 | 97.6 | 82.4 | 87 | 56.6 | 91.4 | 44 | 53.6 | — | — | |
| PDM-ClosedStage=Stage 22026.03 | 88.1 | 90.6 | 96.3 | 98.5 | 100 | 83.1 | 73.7 | 91.5 | 25.4 | 51.3 | — | — | |
| GTRS-AEvaluation Stage=Stage 22026.05 | 88.1 | 88.8 | 89.3 | 98.9 | 98.9 | 85.9 | 53.7 | 96.8 | 56.9 | — | — | — | |
| TransFuserData Strategy=AutoScale, Real Samples=85K, Synthetic Samples=100K, Stage=S22026.05 | 88 | 73.4 | 93.1 | 99.1 | 86.4 | 82.7 | 56.6 | 94.9 | 46.9 | 33.3 | — | — | |
| TransFuserSettings=AutoScale, Real=85K, Synthetic=100K, Stage=S22026.05 | 88 | 73.4 | 93.1 | 99.1 | 86.4 | 82.7 | 56.6 | 94.9 | 46.9 | 33.3 | — | — | |
| DriveSuprimBackbone=V2-99, Stage=Stage 22026.06 | 87.9 | 88.8 | 89.6 | 98.8 | 80.3 | 86 | 53.5 | 97.1 | 56.1 | — | — | — | |
| DiffusionDriveData Strategy=AutoScale, Real Samples=85K, Synthetic Samples=50K, Stage=S22026.05 | 87.8 | 71.2 | 91.5 | 98.6 | 89.7 | 82.2 | 61.1 | 95.6 | 42.1 | 32.4 | — | — | |
| DiffusionDriveSettings=AutoScale, Real=85K, Synthetic=50K, Stage=S22026.05 | 87.8 | 71.2 | 91.5 | 98.6 | 89.7 | 82.2 | 61.1 | 95.6 | 42.1 | 32.4 | — | — | |
| GuideFlowStage=Stage II, Backbone=ResNet-342025.12 | 87.3 | 76.7 | 88.8 | 99.2 | 84.3 | 85.1 | 49.7 | 93.1 | 44.5 | 27.1 | — | — | |
| GuideFlowStage=Stage 22025.07 | 87.3 | 76.7 | 88.8 | 99.2 | 84.3 | 85.1 | 49.7 | 93.1 | 44.5 | 27.1 | — | — | |
| GuideFlowBackbone=ResNet-34, Stage=Stage 22026.06 | 87.3 | 76.7 | 88.8 | 99.2 | 84.3 | 85.1 | 49.7 | 93.1 | 44.5 | — | — | — | |
| SpanVLAStage=22026.04 | 86.9 | 84.3 | 87.1 | 98.2 | 85.5 | 82.7 | 62.3 | 96.8 | 67.4 | 40.1 | — | — | |
| SpanVLABackbone=Qwen2.5-VL-3B, Stage=Stage 22026.06 | 86.9 | 84.3 | 87.1 | 98.2 | 85.5 | 82.7 | 62.3 | 96.8 | 67.4 | — | — | — | |
| ETA-VLAStage=Stage 22026.03 | 86.7 | 82.7 | 90 | 98.7 | 85 | 83.4 | 55.9 | 96.9 | 63.4 | 48 | — | — | |
| DIVERStage=Stage 22025.07 | 86.4 | 74.9 | 87.9 | 98.7 | 84.1 | 84.5 | 48.8 | 92.6 | 43.4 | 26.8 | — | — | |
| TransFuserData Strategy=SimScale-planner, Real Samples=85K, Synthetic Samples=237K, Stage=S22026.05 | 85.5 | 66.9 | 91.6 | 99.1 | 93 | 81.1 | 58.3 | 95.1 | 42.9 | 30.2 | — | — | |
| TransFuserSettings=SimScale-planner, Real=85K, Synthetic=237K, Stage=S22026.05 | 85.5 | 66.9 | 91.6 | 99.1 | 93 | 81.1 | 58.3 | 95.1 | 42.9 | 30.2 | — | — | |
| TransFuserData Strategy=AutoScale, Real Samples=85K, Synthetic Samples=50K, Stage=S22026.05 | 84.4 | 69.3 | 92.9 | 98.6 | 88.3 | 79.8 | 58.2 | 96.4 | 45.9 | 31.5 | — | — | |
| TransFuserSettings=AutoScale, Real=85K, Synthetic=50K, Stage=S22026.05 | 84.4 | 69.3 | 92.9 | 98.6 | 88.3 | 79.8 | 58.2 | 96.4 | 45.9 | 31.5 | — | — | |
| DiffusionDriveData Strategy=AutoScale, Real Samples=85K, Synthetic Samples=100K, Stage=S22026.05 | 83.4 | 72.7 | 91.6 | 98.8 | 90 | 77.4 | 61.2 | 94.6 | 46.1 | 33.5 | — | — | |
| DiffusionDriveSettings=AutoScale, Real=85K, Synthetic=100K, Stage=S22026.05 | 83.4 | 72.7 | 91.6 | 98.8 | 90 | 77.4 | 61.2 | 94.6 | 46.1 | 33.5 | — | — | |
| RAPStage=22026.04 | 83.2 | 83.9 | 87.4 | 98 | 86.9 | 80.4 | 52.3 | 95.2 | 52.4 | 36.9 | — | — | |
| RAP-DINOEvaluation Stage=Stage 22026.05 | 83.2 | 83.9 | 87.4 | 98 | 86.9 | 80.4 | 52.3 | 95.2 | 52.4 | — | — | — | |
| RAP-DINOBackbone=VIT, Stage=Stage 22026.06 | 83.2 | 83.9 | 87.4 | 98 | 86.9 | 80.4 | 52.3 | 95.2 | 52.4 | — | — | — | |
| MindDriveStage=Stage II, Backbone=ResNet-342025.12 | 82.6 | 79.1 | 86.4 | 98 | 85.3 | 79.4 | 49.2 | 96.5 | 71 | 30.5 | — | — | |
| MindDriveStage=Stage 22025.07 | 82.6 | 79.1 | 86.4 | 98 | 85.3 | 79.4 | 49.2 | 96.5 | 71 | 30.5 | — | — | |
| MindDriveBackbone=ResNet-34, Stage=Stage 22026.06 | 82.6 | 79.1 | 86.4 | 98 | 85.3 | 79.4 | 49.2 | 96.5 | 71 | — | — | — | |
| DiffusionDriveData Strategy=SimScale-recovery, Real Samples=85K, Synthetic Samples=147K, Stage=S22026.05 | 82.4 | 67.7 | 89.1 | 98.6 | 89 | 77.6 | 53.8 | 95.2 | 46.8 | 30.4 | — | — | |
| DiffusionDriveData Strategy=SimScale-planner, Real Samples=85K, Synthetic Samples=237K, Stage=S22026.05 | 82.4 | 72.1 | 92.9 | 98.5 | 92.1 | 80.6 | 60.8 | 95.4 | 31.9 | 32.6 | — | — | |
| DiffusionDriveSettings=SimScale-recovery, Real=85K, Synthetic=147K, Stage=S22026.05 | 82.4 | 67.7 | 89.1 | 98.6 | 89 | 77.6 | 53.8 | 95.2 | 46.8 | 30.4 | — | — | |
| DiffusionDriveSettings=SimScale-planner, Real=85K, Synthetic=237K, Stage=S22026.05 | 82.4 | 72.1 | 92.9 | 98.5 | 92.1 | 80.6 | 60.8 | 95.4 | 31.9 | 32.6 | — | — | |
| DiffusionDriveStage=Stage II, Backbone=ResNet-342025.12 | 82.1 | 72.2 | 88.5 | 98.7 | 85.1 | 78.8 | 49.2 | 89.3 | 71.2 | 24.2 | — | — | |
| DiffusionDriveStage=Stage 22025.07 | 82.1 | 72.2 | 88.5 | 98.7 | 85.1 | 78.8 | 49.2 | 89.3 | 71.2 | 24.2 | — | — | |
| DiffusionDriveBackbone=ResNet-34, Stage=Stage 22026.06 | 82.1 | 72.2 | 88.5 | 98.7 | 85.1 | 78.8 | 49.2 | 89.3 | 71.2 | — | — | — | |
| DiffVLABackbone=V2-99 + ViT-L/14, Stage=Stage 22026.06 | 81.2 | 88.8 | 94.6 | 99 | 86 | 76.4 | 59.8 | 98.6 | 80.4 | — | — | — | |
| GTRS-DPStage=Stage II, Backbone=ResNet-342025.12 | 80.3 | 74.4 | 84.9 | 98 | 81.9 | 78.8 | 45.4 | 96.7 | 70.1 | 23.8 | — | — | |
| DiffusionDriveData Strategy=Real Data, Real Samples=85K, Stage=S22026.05 | 80.1 | 72.8 | 84.4 | 98.4 | 85.9 | 76.6 | 46.4 | 96.3 | 72.8 | 27.5 | — | — | |
| DiffusionDriveSettings=Real Data, Real=85K, Synthetic=-, Stage=S22026.05 | 80.1 | 72.8 | 84.4 | 98.4 | 85.9 | 76.6 | 46.4 | 96.3 | 72.8 | 27.5 | — | — | |
| DiffusionDriveStage=Stage 22026.03 | 79.5 | 72.8 | 84.1 | 98.4 | 87.5 | 76.2 | 46.6 | 96.1 | 62.4 | 26 | — | — |