Autonomous Driving Planning on Navsim (test)
92PDMEncoder Attack
Evaluation results
| Method | Links | ||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Encoder AttackAttacked Model=DiffusionDrive [13]2026.06 | 92 | — | — | — | — | — | — | -0.12 | 44.29 | 1.02 | 2.07 | 2.23 | 4 | 0.01 | |
| CleanAttacked Model=DiffusionDrive [13]2026.06 | 91 | — | — | — | — | — | — | 0 | 0 | 0.99 | 2.01 | 2.24 | 4.33 | 0.01 | |
| CleanAttacked Model=GTRS-AUG [27]2026.06 | 83 | — | — | — | — | — | — | 0 | 0 | 9.51 | 0.4 | 0.3 | 9.99 | 0.8 | |
| CleanAttacked Model=GTRS-Dense [27]2026.06 | 83 | — | — | — | — | — | — | 0 | 0 | 7.9 | 1 | 0.29 | 8.22 | 0.88 | |
| CleanAttacked Model=GTRS-DP [27]2026.06 | 78 | — | — | — | — | — | — | 0 | 0 | 11.28 | 3.51 | 0.57 | 12.12 | 0.93 | |
| Untargeted PGDAttacked Model=DiffusionDrive [13]2026.06 | 77 | — | — | — | — | — | — | 15.86 | 95.71 | 9.14 | 6.74 | 4.3 | 21.5 | 0.01 | |
| Untargeted PGDAttacked Model=GTRS-Dense [27]2026.06 | 69 | — | — | — | — | — | — | 16.82 | 87.14 | 8.01 | 10.7 | 3.56 | 8.83 | 4.85 | |
| DP AttackerAttacked Model=GTRS-Dense [27]2026.06 | 69 | — | — | — | — | — | — | 16.42 | 85.71 | 7.54 | 10.73 | 3.9 | 8.28 | 4.17 | |
| Encoder AttackAttacked Model=GTRS-Dense [27]2026.06 | 67 | — | — | — | — | — | — | 19.07 | 90 | 5.66 | 10.04 | 2.31 | 7.04 | 7.52 | |
| Encoder AttackAttacked Model=GTRS-AUG [27]2026.06 | 64 | — | — | — | — | — | — | 23.09 | 92.86 | 11.19 | 17.01 | 6.15 | 13.47 | 3.89 | |
| Encoder AttackAttacked Model=GTRS-DP [27]2026.06 | 62 | — | — | — | — | — | — | 20.44 | 90 | 15.98 | 15.86 | 4.81 | 17.68 | 0.91 | |
| DP AttackerAttacked Model=DiffusionDrive [13]2026.06 | 60 | — | — | — | — | — | — | 34.19 | 100 | 21.01 | 10.14 | 8.21 | 31.35 | 0.23 | |
| DP AttackerAttacked Model=GTRS-DP [27]2026.06 | 59 | — | — | — | — | — | — | 24.26 | 94.29 | 17.87 | 19.22 | 6.99 | 19.26 | 0.9 | |
| DerailAttacked Model=GTRS-Dense [27]2026.06 | 50 | — | — | — | — | — | — | 39.78 | 100 | 25.82 | 10.49 | 4.1 | 27.45 | 43.25 | |
| Untargeted PGDAttacked Model=GTRS-AUG [27]2026.06 | 46 | — | — | — | — | — | — | 45.03 | 98.57 | 30.72 | 20.7 | 8.46 | 32.55 | 1.54 | |
| DP AttackerAttacked Model=GTRS-AUG [27]2026.06 | 46 | — | — | — | — | — | — | 44.74 | 98.57 | 30.83 | 20.25 | 8.75 | 33.07 | 1.61 | |
| Untargeted PGDAttacked Model=GTRS-DP [27]2026.06 | 42 | — | — | — | — | — | — | 46.03 | 98.57 | 29.8 | 27.15 | 13.85 | 33.2 | 5.8 | |
| DerailAttacked Model=DiffusionDrive [13]2026.06 | 37 | — | — | — | — | — | — | 60.02 | 100 | 38.42 | 31.95 | 22.63 | 52.67 | 3.79 | |
| DerailAttacked Model=GTRS-AUG [27]2026.06 | 22 | — | — | — | — | — | — | 72.85 | 100 | 45.04 | 47.92 | 33.66 | 51.41 | 8.19 | |
| DerailAttacked Model=GTRS-DP [27]2026.06 | 16 | — | — | — | — | — | — | 80.1 | 100 | 50.65 | 60.38 | 42.24 | 58.18 | 18.9 | |
| Constant VelocityEgo Stat.=false, Image=false, LiDAR=false, Video=false2025.03 | — | 68 | 57.8 | 50 | 100 | 19.4 | 20.6 | — | — | — | — | — | — | — | |
| Ego Status MLPEgo Stat.=true, Image=false, LiDAR=false, Video=false2025.03 | — | 93 | 77.3 | 83.6 | 100 | 62.8 | 65.6 | — | — | — | — | — | — | — | |
| GoalFlowEgo Stat.=true, Image=true, LiDAR=true, Video=false2025.03 | — | 98.4 | 98.3 | 94.6 | 100 | 85 | 90.3 | — | — | — | — | — | — | — | |
| GoalFlow†Ego Stat.=true, Image=true, LiDAR=true, endpoint guidance=ground-truth trajectory endpoint2025.03 | — | 99.8 | 97.9 | 98.6 | 100 | 85.4 | 92.1 | — | — | — | — | — | — | — | |
| Human‡evaluation_base=ground-truth trajectories2025.03 | — | 100 | 100 | 100 | 99.9 | 87.5 | 94.8 | — | — | — | — | — | — | — | |
| LTFEgo Stat.=true, Image=true, LiDAR=false, Video=false2025.03 | — | 97.4 | 92.8 | 92.4 | 100 | 79 | 83.8 | — | — | — | — | — | — | — | |
| PARA-DriveEgo Stat.=true, Image=true, LiDAR=true, Video=true2025.03 | — | 97.9 | 92.4 | 93 | 99.8 | 79.3 | 84 | — | — | — | — | — | — | — | |
| TransFuserEgo Stat.=true, Image=true, LiDAR=true, Video=false2025.03 | — | 97.7 | 92.8 | 92.8 | 100 | 79.2 | 84 | — | — | — | — | — | — | — | |
| UniADEgo Stat.=true, Image=true, LiDAR=true, Video=false2025.03 | — | 97.8 | 91.9 | 92.9 | 100 | 78.8 | 83.4 | — | — | — | — | — | — | — |