Autonomous Driving Planning on NAVSIM (navtest)
100NCHuman
Evaluation results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| Human2026.07 | 100 | 100 | 100 | 87.5 | 94.8 | 99.9 | |
| DriveTeach-VLABase VLM=Qwen2.5-VL-3B, Selection Strategy=DrivorR selector2026.07 | 99.8 | 98.3 | 98.3 | 86.6 | 92.7 | 99.9 | |
| WAM-diffconcurrent preprint=true2026.06 | 99.1 | 98.3 | 96.5 | 84.4 | 91 | 99.9 | |
| AutoVLAPub.=NeurIPS’25, Base VLM=Qwen2.5-VL-3B, Selection Strategy=DrivorR selector2026.07 | 99.1 | 98.8 | 87.9 | 100 | 92.1 | 97.2 | |
| ResWorldAuxiliary Task=Det&Map, Utilization of historical frame=true2026.02 | 98.9 | 96.5 | 95.6 | 83.1 | 89 | 100 | |
| DrivingGPTScheme=IL2025.11 | 98.9 | 90.7 | 94.9 | 79.7 | 82.4 | 100 | |
| DrivingGPT2026.06 | 98.9 | 90.7 | 94.9 | 79.7 | 82.4 | 95.6 | |
| Recogdrive-stage2 + AD-R1Scheme=RL, World Model=true2025.11 | 98.74 | 97.8 | 94.8 | 87.5 | 91.9 | 100 | |
| Hydra-MDP-CInput=C, Img. Backbone=V2-992025.05 | 98.7 | 98.2 | 95 | 86.5 | 91 | — | |
| GaussianFusionInput=C & L, Img. Backbone=V2-992025.05 | 98.7 | 98.1 | 95.7 | 88.2 | 92 | — | |
| NaviHydra-V4096Inputs=LiDAR & Camera2025.12 | 98.7 | 98.6 | 96.2 | 88.7 | 92.7 | 100 | |
| GaussianFusionInput=Camera & LiDAR, Percep. Label=BBox, Map2026.02 | 98.7 | 98.1 | 95.7 | 88.2 | 92 | — | |
| DriveVLA-W02026.06 | 98.7 | 99.1 | 95.3 | 83.3 | 90.2 | 99.3 | |
| DriveVLA-W0Pub.=ICLR’26, Base VLM=Emu3-8B2026.07 | 98.7 | 99.1 | 95.3 | 83.3 | 90.2 | 99.3 | |
| Hydra-MDP++Input=C, Img. Backbone=V2-992025.05 | 98.6 | 98.6 | 95.1 | 85.7 | 91 | — | |
| Hydra-MDP++ V8192Inputs=Camera2025.12 | 98.6 | 98.6 | 95.1 | 85.7 | 91 | 100 | |
| Hydra-MDP-V16384Inputs=Camera, Note=Official checkpoint2025.12 | 98.5 | 98.8 | 94.9 | 85.4 | 90.8 | 100 | |
| WoTEScheme=IL, World Model=true2025.11 | 98.5 | 96.8 | 94.9 | 81.9 | 88.3 | 99.9 | |
| DriveDPOScheme=IL+RL2025.11 | 98.5 | 98.1 | 94.8 | 84.3 | 90 | 99.9 | |
| DiffusionDrive + AD-R1Scheme=RL, World Model=true2025.11 | 98.5 | 97.5 | 94.6 | 84.8 | 89.8 | 100 | |
| WoTE2026.06 | 98.5 | 96.8 | 94.9 | 81.9 | 88.3 | 99.9 | |
| DriveTeach-VLABase VLM=Qwen2.5-VL-3B2026.07 | 98.5 | 96.9 | 97.9 | 88.5 | 90.4 | 98.2 | |
| GoalFlowInput=C & L, Img. Backbone=V2-992025.05 | 98.4 | 98.3 | 94.6 | 85 | 90.3 | — | |
| GoalFlowInput=Camera & LiDAR, Percep. Label=BBox, Map2026.02 | 98.4 | 98.3 | 94.6 | 85 | 90.3 | — | |
| GoalFlowScheme=IL2025.11 | 98.4 | 98.3 | 94.6 | 85 | 90.3 | 100 | |
| AutoVLA2026.06 | 98.4 | 95.6 | 98 | 81.9 | 89.1 | 99.9 | |
| AutoVLAPub.=NeurIPS’25, Base VLM=Qwen2.5-VL-3B2026.07 | 98.4 | 95.6 | 98 | 81.9 | 89.1 | 99.9 | |
| GoalFlowInput=C & L, Img. Backbone=ResNet342025.05 | 98.3 | 93.3 | 94.8 | 79.8 | 85.7 | — | |
| Hydra-MDPInput=C & L, Img. Backbone=ResNet342025.05 | 98.3 | 96 | 94.6 | 78.7 | 86.5 | — | |
| ARTEMISInput=C & L, Img. Backbone=ResNet342025.05 | 98.3 | 95.1 | 94.3 | 81.4 | 87 | — | |
| GaussianFusionInput=C & L, Img. Backbone=ResNet342025.05 | 98.3 | 97.2 | 94.6 | 83 | 88.8 | — | |
| Hydra-MDP-W-EPAuxiliary Task=Det&Map, Utilization of historical frame=false2026.02 | 98.3 | 96 | 94.6 | 78.7 | 86.5 | 100 | |
| Hydra-MDPInput=Camera & LiDAR, Percep. Label=BBox, Map2026.02 | 98.3 | 96 | 94.6 | 78.7 | 86.5 | — | |
| UniDWMInput=Camera, Percep. Label=None, backbone=DINOv3-B2026.02 | 98.3 | 97.9 | 95.1 | 86 | 90.6 | — | |
| Hydra-MDPScheme=IL2025.11 | 98.3 | 96 | 94.6 | 78.7 | 86.5 | 100 | |
| Hydra-MDP2026.06 | 98.3 | 96 | 94.6 | 78.7 | 86.5 | 100 | |
| DiffusionDriveV2concurrent preprint=true2026.06 | 98.3 | 97.9 | 94.8 | 88 | 91.2 | 99.9 | |
| DiffusionDriveInput=C & L, Img. Backbone=ResNet342025.05 | 98.2 | 96.2 | 94.7 | 82.2 | 88.1 | — | |
| DiffusinDriveAuxiliary Task=Det&Map, Utilization of historical frame=false2026.02 | 98.2 | 96.2 | 94.7 | 82.2 | 88.1 | 100 | |
| ResWorldAuxiliary Task=Det&Map, Utilization of historical frame=false2026.02 | 98.2 | 96.4 | 98.9 | 82.5 | 88.3 | 100 | |
| DiffusionDriveInput=Camera & LiDAR, Percep. Label=BBox, Map2026.02 | 98.2 | 96.2 | 94.7 | 82.2 | 88.1 | — | |
| DiffusionDriveScheme=IL2025.11 | 98.2 | 96.2 | 94.7 | 82.2 | 88.1 | 100 | |
| DiffusionDrive2026.06 | 98.2 | 96.2 | 94.7 | 82.2 | 88.1 | 100 | |
| ASSCG2026.06 | 98.2 | 98.3 | 94.8 | 87.5 | 91.4 | 100 | |
| ReCogDrivePub.=ICLR’26, Base VLM=InternVL3-8B2026.07 | 98.2 | 97.8 | 95.2 | 83.5 | 89.6 | 99.8 | |
| ResWorldAuxiliary Task=None, Utilization of historical frame=false2026.02 | 98.1 | 95.6 | 94.3 | 81.8 | 87.3 | 100 | |
| Recogdrive-stage2Scheme=IL2025.11 | 98.1 | 94.7 | 94.2 | 80.9 | 86.5 | 100 | |
| ImagiDrive2026.06 | 98.1 | 96.2 | 94.5 | 80.5 | 86.9 | 100 | |
| ImagiDrive-SPub.=ICRA’26, Base VLM=InternVL2.5-4B2026.07 | 98.1 | 96.2 | 94.5 | 80.5 | 86.9 | 100 | |
| DRAMAAuxiliary Task=Det&Map, Utilization of historical frame=false2026.02 | 98 | 93.1 | 94.8 | 80.1 | 85.5 | 100 | |
| DRAMA2026.06 | 98 | 93.1 | 94.8 | 80.1 | 85.5 | 100 | |
| PARA-DriveAuxiliary Task=Det&Map, Utilization of historical frame=false2026.02 | 97.9 | 92.4 | 93 | 79.3 | 84 | 99.8 | |
| PARA-DriveInputs=Camera2025.12 | 97.9 | 92.4 | 93 | 79.3 | 84 | 99.8 | |
| EponaInput=Camera, Percep. Label=None2026.02 | 97.9 | 95.1 | 93.8 | 80.4 | 86.2 | — | |
| RecogdriveScheme=IL+RL2025.11 | 97.9 | 97.3 | 94.9 | 87.3 | 90.8 | 100 | |
| PARA-Drive2026.06 | 97.9 | 92.4 | 93 | 79.3 | 84 | 99.8 | |
| ReCogDrive2026.06 | 97.9 | 97.3 | 94.9 | 87.3 | 90.8 | 100 | |
| UniADAuxiliary Task=Det&Map, Utilization of historical frame=false2026.02 | 97.8 | 91.9 | 92.9 | 78.8 | 83.4 | 100 | |
| TransfuserInputs=LiDAR & Camera, Note=Official checkpoint2025.12 | 97.8 | 92.1 | 92.8 | 78.6 | 83.4 | 100 | |
| UniADInputs=Camera2025.12 | 97.8 | 91.9 | 92.9 | 78.8 | 83.4 | 100 | |
| UniADInput=Camera, Percep. Label=BBox, Map, Occ2026.02 | 97.8 | 91.9 | 92.9 | 78.8 | 83.4 | — | |
| DINOv3 (B)*Input=Camera, Percep. Label=None, implementation=evaluated by current paper authors2026.02 | 97.8 | 94.4 | 93 | 80.2 | 85.4 | — | |
| UniADScheme=IL2025.11 | 97.8 | 91.9 | 92.9 | 78.8 | 83.4 | 100 | |
| UniAD2026.06 | 97.8 | 91.9 | 92.9 | 78.8 | 83.4 | 100 | |
| TransFuserInput=C & L, Img. Backbone=ResNet342025.05 | 97.7 | 92.8 | 93 | 79.2 | 84 | — | |
| TransfuserAuxiliary Task=Det&Map, Utilization of historical frame=false2026.02 | 97.7 | 92.8 | 92.8 | 79.2 | 84 | 100 | |
| TransFuserInput=Camera & LiDAR, Percep. Label=BBox, Map2026.02 | 97.7 | 92.8 | 93 | 79.2 | 84 | — | |
| TransFuserScheme=IL2025.11 | 97.7 | 92.8 | 92.8 | 79.2 | 84 | 100 | |
| TransFuser2026.06 | 97.7 | 92.8 | 92.8 | 79.2 | 84 | 100 | |
| Hydra-MDP++Input=C, Img. Backbone=ResNet342025.05 | 97.6 | 96 | 93.1 | 80.4 | 86.6 | — | |
| ReCogDriveBackbone=InternVL2026.02 | 97.5 | 91.8 | 92.8 | 75 | 81.6 | 100 | |
| LTFInput=Camera, Img. Backbone=ResNet342025.05 | 97.4 | 92.8 | 92.4 | 79 | 83.8 | — | |
| World4DriveAuxiliary Task=None, Utilization of historical frame=false2026.02 | 97.4 | 94.3 | 92.8 | 79.9 | 85.1 | 100 | |
| LTFInput=Camera, Percep. Label=BBox, Map2026.02 | 97.4 | 92.8 | 92.4 | 79 | 83.8 | — | |
| World4DriveInput=Camera, Percep. Label=None2026.02 | 97.4 | 94.3 | 92.8 | 79.9 | 85.1 | — | |
| UniDWMInput=Camera, Percep. Label=None, backbone=DCAE2026.02 | 97.4 | 93.2 | 93.3 | 80.1 | 84.9 | — | |
| World4DriveScheme=IL, World Model=true2025.11 | 97.4 | 94.3 | 92.8 | 79.9 | 85.1 | 100 | |
| VADv2Auxiliary Task=Det&Map, Utilization of historical frame=false2026.02 | 97.2 | 89.1 | 91.6 | 76 | 80.9 | 100 | |
| LAWInput=Camera, Percep. Label=None2026.02 | 97.2 | 93.3 | 91.9 | 78.8 | 83.8 | — | |
| VADv2Scheme=IL2025.11 | 97.2 | 89.1 | 91.6 | 76 | 80.9 | 100 | |
| LAWScheme=IL+SSL, World Model=true2025.11 | 97.2 | 93.3 | 91.9 | 78.8 | 83.8 | 100 | |
| GeoThinker2026.02 | 97 | 95.5 | 95 | 74.3 | 83.6 | 100 | |
| TrajhfScheme=IL+RL, World Model=true2025.11 | 96.6 | 96.6 | 92.1 | 84.5 | 87.6 | 100 | |
| LAWAuxiliary Task=None, Utilization of historical frame=false2026.02 | 96.4 | 95.4 | 88.7 | 81.7 | 84.6 | 99.9 | |
| PDM-ClosedInputs=Perception GT2025.12 | 94.6 | 99.8 | 86.9 | 89.9 | 89.1 | 99.9 | |
| Ego Status MLP2026.02 | 93 | 77.3 | 83.6 | 62.8 | 65.6 | 100 | |
| Ego-MLPInput=Ego status, Percep. Label=None2026.02 | 93 | 77.3 | 83.6 | 62.8 | 65.6 | — | |
| Ego Status MLP2025.11 | 93 | 77.3 | 83.6 | 62.8 | 65.6 | 100 | |
| SSRInputs=LiDAR & Camera, Note=Retrained on navtrain split2025.12 | 90.7 | 83.8 | 82.3 | 66.8 | 69.1 | 100 | |
| Constant Velocity2026.02 | 68 | 57.8 | 50 | 19.4 | 20.6 | 100 | |
| Constant Velocity2025.11 | 68 | 57.8 | 50 | 19.4 | 20.6 | 100 |