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ResearchFormerly WizWand

Autonomous Driving Planning on NAVSIM Navhard v2 (Stage 2)

0.881NCPDM-Closed

Evaluation results

Method	Links
PDM-Closed2026.02		0.881	0.906	0.963	0.985	1	0.915	—
Constrained GRPO, ScAdv2026.02		0.853	0.83	0.897	0.986	0.863	0.967	0.516
Constrained GRPO, ScRew2026.02		0.81	0.784	0.866	0.976	0.939	0.952	0.436
SFT Checkpoint2026.02		0.8	0.756	0.869	0.981	0.878	0.963	0.444
GRPO, ScAdv2026.02		0.778	0.731	0.831	0.972	0.944	0.962	0.385
GRPO, ScAdv2026.02		0.767	0.705	0.813	0.971	0.981	0.949	0.37
GRPO, ScRew2026.02		0.754	0.695	0.791	0.969	0.986	0.954	0.35
GRPO, ScRew2026.02		0.751	0.696	0.787	0.968	0.986	0.954	0.347
GRPO with EPDMS2026.02		0.749	0.759	0.829	0.969	0.979	0.945	0.381