# Autonomous Driving Planning on nuScenes ST-P3 (val) Source: [Autonomous Driving Planning on nuScenes ST-P3 (val)]() Collection index: [llms.txt]() Data updated: 2026-06-30T09:21:57.228Z Evaluation of autonomous driving planning performance on the ST-P3 scenario subset of the nuScenes validation set, measured by trajectory L2 error and collision rate. 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) | nuScenes ST-P3 (val) | | Metric | L2 Error (m) | | Unit | SCALAR | | Direction | Lower is better | | Results loaded | 17 of 17 | | 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 - [L2 Error (m)](): Lower is better; unit: SCALAR. - [Collision Rate (%)](): Lower is better; unit: PERCENT. ## Recorded results | Method | L2 Error (m) | Result date | Report paper | | --- | --- | --- | --- | | LWDrive | 0.37 | Not recorded | 6a434da1ba73165dbb743dd3 | | DriveVLM | 0.4 | Not recorded | 6a434da1ba73165dbb743dd3 | | RDA-Driver | 0.4 | Not recorded | 6a434da1ba73165dbb743dd3 | | AutoVLA | 0.43 | Not recorded | 6a434da1ba73165dbb743dd3 | | InsightDrive | 0.44 | Not recorded | 6a434da1ba73165dbb743dd3 | | GPT-Driver | 0.44 | Not recorded | 6a434da1ba73165dbb743dd3 | | AutoVLA | 0.48 | Not recorded | 6a434da1ba73165dbb743dd3 | | BEV-Planner | 0.55 | Not recorded | 6a434da1ba73165dbb743dd3 | | UniAD | 0.69 | Not recorded | 6a434da1ba73165dbb743dd3 | | Doe-1 | 0.7 | Not recorded | 6a434da1ba73165dbb743dd3 | | OccWorld | 0.77 | Not recorded | 6a434da1ba73165dbb743dd3 | | Ego-MLP | 0.78 | Not recorded | 6a434da1ba73165dbb743dd3 | | OmniDrive | 0.84 | Not recorded | 6a434da1ba73165dbb743dd3 | | DME-Driver | 0.98 | Not recorded | 6a434da1ba73165dbb743dd3 | | VAD | 1.25 | Not recorded | 6a434da1ba73165dbb743dd3 | | ST-P3 | 2.11 | Not recorded | 6a434da1ba73165dbb743dd3 | | OpenEMMA | 2.81 | Not recorded | 6a434da1ba73165dbb743dd3 | ### LWDrive L2 Error (m): 0.37. Result ID: 6a438a9afbc373592c957941. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Modeling approach":"Autoregressive"}. This record does not assert independent reproduction. ### DriveVLM L2 Error (m): 0.4. Result ID: 6a438a9afbc373592c957937. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Modeling approach":"Autoregressive"}. This record does not assert independent reproduction. ### RDA-Driver L2 Error (m): 0.4. Result ID: 6a438a9afbc373592c95793b. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Modeling approach":"Autoregressive"}. This record does not assert independent reproduction. ### AutoVLA L2 Error (m): 0.43. Result ID: 6a438a9afbc373592c95793f. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Modeling approach":"Autoregressive","Variant":"action only"}. This record does not assert independent reproduction. ### InsightDrive L2 Error (m): 0.44. Result ID: 6a438a9afbc373592c957935. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Modeling approach":"Non-Autoregressive"}. This record does not assert independent reproduction. ### GPT-Driver L2 Error (m): 0.44. Result ID: 6a438a9afbc373592c957938. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Modeling approach":"Autoregressive"}. This record does not assert independent reproduction. ### AutoVLA L2 Error (m): 0.48. Result ID: 6a438a9afbc373592c957940. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Modeling approach":"Autoregressive","Variant":"w/ CoT"}. This record does not assert independent reproduction. ### BEV-Planner L2 Error (m): 0.55. Result ID: 6a438a9afbc373592c957936. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Modeling approach":"Non-Autoregressive"}. This record does not assert independent reproduction. ### UniAD L2 Error (m): 0.69. Result ID: 6a438a9afbc373592c957934. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Modeling approach":"Non-Autoregressive"}. This record does not assert independent reproduction. ### Doe-1 L2 Error (m): 0.7. Result ID: 6a438a9afbc373592c95793a. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Modeling approach":"Autoregressive"}. This record does not assert independent reproduction. ### OccWorld L2 Error (m): 0.77. Result ID: 6a438a9afbc373592c957939. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Modeling approach":"Autoregressive"}. This record does not assert independent reproduction. ### Ego-MLP L2 Error (m): 0.78. Result ID: 6a438a9afbc373592c957933. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Modeling approach":"Non-Autoregressive"}. This record does not assert independent reproduction. ### OmniDrive L2 Error (m): 0.84. Result ID: 6a438a9afbc373592c95793e. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Modeling approach":"Autoregressive"}. This record does not assert independent reproduction. ### DME-Driver L2 Error (m): 0.98. Result ID: 6a438a9afbc373592c95793d. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Modeling approach":"Autoregressive"}. This record does not assert independent reproduction. ### VAD L2 Error (m): 1.25. Result ID: 6a438a9afbc373592c957932. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Modeling approach":"Non-Autoregressive"}. This record does not assert independent reproduction. ### ST-P3 L2 Error (m): 2.11. Result ID: 6a438a9afbc373592c957931. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Modeling approach":"Non-Autoregressive"}. This record does not assert independent reproduction. ### OpenEMMA L2 Error (m): 2.81. Result ID: 6a438a9afbc373592c95793c. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Modeling approach":"Autoregressive"}. This record does not assert independent reproduction. Page 1 of 1. This is an index page, not the full collection.