Autonomous Driving Trajectory Planning on NAVSIM navhard-two-stage v2 (test)
99.8Stage 1 NCDriveFuture
Evaluation results
| Method | Links | |||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| DriveFuture2026.06 | 99.8 | 99.8 | 100 | 99.6 | 85.7 | 99.8 | 98.7 | 97.6 | 66.2 | 90.6 | 87.5 | 94.1 | 99.1 | 84.6 | 88.8 | 58.3 | 93.5 | 45.6 | 55.5 | |
| SimScaleBackbone=V2-99, Extra Data=+185k SimScale data, Metric Bug Fixing=After, Citation=[45]2026.01 | 99.6 | 99.16 | 99.9 | 100 | 69.6 | 99.6 | 95.8 | 95.6 | 28.4 | 94.5 | 94.2 | 95.8 | 99.2 | 75.8 | 92.8 | 60.1 | 96.1 | 43.2 | 53.2 | |
| SimScale2026.06 | 99.6 | 99.1 | 99.9 | 100 | 69.6 | 99.6 | 95.8 | 95.6 | 28.4 | 94.5 | 94.2 | 95.8 | 99.2 | 75.8 | 92.8 | 60.1 | 96.1 | 43.2 | 53.2 | |
| DrivoRBackbone=ViT-S, Extra Data=+134k SimScale data, Metric Bug Fixing=After2026.01 | 99.1 | 98.2 | 99.3 | 99.8 | 75.4 | 98.7 | 94.9 | 97.6 | 70.2 | 92.3 | 91.6 | 97.3 | 99.1 | 75.7 | 90.6 | 56.1 | 98.4 | 44.7 | 54.6 | |
| DrivoRBackbone=ViT-S2026.06 | 99.1 | 98.2 | 99.3 | 99.8 | 75.4 | 98.7 | 94.9 | 97.6 | 70.2 | 92.3 | 91.6 | 97.3 | 99.1 | 75.7 | 90.6 | 56.1 | 98.4 | 44.7 | 54.6 | |
| GTRS-ABackbone=V2-99, Metric Bug Fixing=Before, Citation=[35]2026.01 | 98.9 | 87.9 | 95.1 | 88.8 | 99.2 | 89.6 | 99.6 | 98.8 | 76.1 | 80.3 | 99.1 | 86 | 94.7 | 53.5 | 97.6 | 97.1 | 54.2 | 56.1 | 42.1 | |
| GTRS-DBackbone=ViT-L, Metric Bug Fixing=Before, Citation=[35]2026.01 | 98.9 | 98.2 | 99.8 | 99.6 | 73.9 | 98.9 | 95.3 | 97.3 | 40 | 91.5 | 90.8 | 94.7 | 98.5 | 70.8 | 90.1 | 55.4 | 97.2 | 54.2 | 45.3 | |
| ZTRSBackbone=V2-99, Metric Bug Fixing=Before, Citation=[34]2026.01 | 98.9 | 97.6 | 100 | 100 | 66.7 | 98.9 | 96.2 | 96.7 | 44 | 91.1 | 90.4 | 95.8 | 99 | 63.6 | 89.8 | 60.4 | 97.6 | 66.1 | 45.5 | |
| GTRS-DBackbone=V2-99, Metric Bug Fixing=After, Citation=[35]2026.01 | 98.9 | 96.2 | 99.4 | 99.3 | 72.9 | 98.9 | 95.1 | 96.9 | 39.1 | 91.2 | 89.4 | 94.4 | 98.8 | 69.5 | 90 | 54.3 | 94 | 48.7 | 45 | |
| GTRS-ABackbone=V2-99, Metric Bug Fixing=After, Citation=[35]2026.01 | 98.9 | 95.1 | 99.1 | 99.6 | 76.2 | 99.1 | 94.9 | 97.6 | 54.2 | 88.1 | 88.8 | 89.3 | 98.9 | 98.9 | 85.9 | 53.7 | 96.8 | 56.9 | 45.4 | |
| ZTRSBackbone=V2-99, Metric Bug Fixing=After, Citation=[34]2026.01 | 98.9 | 97.6 | 100 | 100 | 66.7 | 98.9 | 96.2 | 96.7 | 44 | 91.1 | 90.4 | 95.8 | 99 | 63.6 | 89.8 | 60.4 | 97.6 | 66.1 | 48.1 | |
| DrivoRBackbone=ViT-S, Extra Data=+65k SimScale data, Metric Bug Fixing=After2026.01 | 98.9 | 97.3 | 99.2 | 99.6 | 77.7 | 99.1 | 95.3 | 97.6 | 68.4 | 92.3 | 92.2 | 97 | 99 | 72.1 | 90.3 | 56.3 | 97.1 | 38.8 | 52.3 | |
| DriveSuprim2026.06 | 98.9 | 95.1 | 99.2 | 99.6 | 76.1 | 99.1 | 94.7 | 97.6 | 54.2 | 87.9 | 88.8 | 89.6 | 98.8 | 80.3 | 86 | 53.5 | 97.1 | 56.1 | 42.1 | |
| GTRS-E2026.06 | 98.9 | 99.3 | 99.8 | 99.8 | 75.2 | 98.4 | 96 | 97.6 | 51.6 | 92.3 | 93.3 | 94.6 | 99.2 | 73.1 | 91.2 | 53.9 | 96.7 | 56.8 | 49.4 | |
| GTRSBackbone=V2-992026.06 | 98.9 | 95.1 | 99.1 | 99.6 | 76.2 | 99.1 | 94.9 | 97.6 | 54.2 | 88.1 | 88.8 | 89.3 | 98.9 | 98.9 | 85.9 | 53.7 | 96.8 | 56.9 | 45.4 | |
| ZTRSBackbone=V2-992026.06 | 98.9 | 97.6 | 100 | 100 | 66.7 | 98.9 | 96.2 | 96.7 | 44 | 91.1 | 90.4 | 95.8 | 99 | 63.6 | 89.8 | 60.4 | 97.6 | 66.1 | 48.1 | |
| DrivoRBackbone=ViT-S, Refinement Strategy=TOAD2026.06 | 98.9 | 98.2 | 99.4 | 100 | 74.6 | 98.9 | 94 | 97.6 | 66.7 | 93.6 | 94 | 97.5 | 98.8 | 74.1 | 92 | 57.1 | 98 | 47.3 | 56.3 | |
| DrivoRBackbone=ViT-S, Metric Bug Fixing=Before2026.01 | 98.8 | 95.1 | 98.9 | 100 | 72.6 | 98.7 | 94 | 97.6 | 73.3 | 90.2 | 88.4 | 91.9 | 98.6 | 69.8 | 88 | 50.1 | 98.5 | 76.2 | 45.3 | |
| DrivoRBackbone=ViT-S, Metric Bug Fixing=After2026.01 | 98.8 | 95.1 | 98.9 | 100 | 72.6 | 98.7 | 94 | 97.6 | 73.3 | 90.2 | 88.4 | 91.9 | 98.6 | 70 | 88 | 50.1 | 98.5 | 76.2 | 48.3 | |
| GTRS-DBackbone=V2-99, Metric Bug Fixing=Before, Citation=[35]2026.01 | 98.7 | 91.4 | 95.8 | 89.2 | 99.4 | 94.4 | 99.3 | 98.8 | 72.8 | 69.5 | 98.7 | 90.1 | 95.1 | 54.6 | 96.9 | 94.1 | 40.4 | 49.7 | 41.7 | |
| GTRS-ABackbone=ViT-L, Metric Bug Fixing=Before, Citation=[35]2026.01 | 98.7 | 98 | 99.1 | 99.8 | 75.9 | 98.7 | 94.7 | 97.6 | 49.8 | 89.5 | 89.6 | 92.9 | 98.5 | 78.9 | 86.4 | 55.3 | 96.5 | 52.7 | 44.7 | |
| DriveSuprimBackbone=EVA-ViT-L, Metric Bug Fixing=Before, Citation=[53]2026.01 | 98.7 | 98 | 99.1 | 99.8 | 75.9 | 98.7 | 94.7 | 97.6 | 49.8 | 89.5 | 89.6 | 92.9 | 98.5 | 78.9 | 86.4 | 55.3 | 96.5 | 52.7 | 44.7 | |
| GTRSBackbone=V2-99, Refinement Strategy=TOAD2026.06 | 98.7 | 96.4 | 99.2 | 99.8 | 74.6 | 98.7 | 89.1 | 97.6 | 60.9 | 91.2 | 91.5 | 95.1 | 98.5 | 75.7 | 89.2 | 57.8 | 98.5 | 54.3 | 51.7 | |
| ZTRSBackbone=V2-99, Refinement Strategy=TOAD2026.06 | 98.7 | 96.9 | 99.6 | 99.6 | 71 | 98.4 | 90.7 | 97.6 | 62.2 | 92.3 | 90.2 | 94 | 98.5 | 67.8 | 90.4 | 58.8 | 99.2 | 57.3 | 49.2 | |
| SpanVLA2026.06 | 98.4 | 94.3 | 97.8 | 99.9 | 85.7 | 97.2 | 94.2 | 97.6 | 72.1 | 86.9 | 84.3 | 87.1 | 98.2 | 85.5 | 82.7 | 62.3 | 96.8 | 67.4 | 40.1 | |
| Hydra-MDP2026.06 | 98.4 | 94.2 | 99.6 | 99.8 | 82.7 | 98 | 95.8 | 97.8 | 66.2 | 85.2 | 82.5 | 89.7 | 98.5 | 85.2 | 82.5 | 50.7 | 95.4 | 47.7 | 40.9 | |
| Hydra-MDPRefinement Strategy=TOAD2026.06 | 98.1 | 95.1 | 99.3 | 100 | 78 | 98.2 | 89.1 | 97.8 | 55.1 | 91.4 | 90.1 | 94.3 | 98.5 | 80.1 | 88.9 | 55.7 | 97.6 | 45.2 | 49.7 | |
| GTRS-DrivoRBackbone=ViT-S, Metric Bug Fixing=Before, Note=same ViT-S backbone with DrivoR registers, scoring heads as in GTRS2026.01 | 98 | 95.8 | 99.7 | 99.3 | 72.9 | 98.2 | 95.6 | 96.9 | 51.6 | 91.6 | 86.7 | 90.2 | 98.8 | 73.2 | 88.9 | 51.9 | 94.9 | 46.4 | 42.3 | |
| GTRS-DrivoRBackbone=ViT-S, Metric Bug Fixing=After2026.01 | 98 | 95.8 | 99.7 | 99.3 | 72.9 | 98.2 | 95.6 | 96.9 | 51.6 | 91.6 | 86.7 | 90.2 | 98.8 | 73.2 | 88.9 | 51.9 | 94.9 | 46.4 | 45.8 | |
| iPadRefinement Strategy=TOAD2026.06 | 97.7 | 97.1 | 99.6 | 99.8 | 75.6 | 98.4 | 93.6 | 97.6 | 43.1 | 93 | 91 | 93.1 | 98.8 | 78.4 | 91.2 | 54.8 | 97.6 | 41.1 | 49.8 | |
| GTRS-DBackbone=EVA-ViT-L, Metric Bug Fixing=Before, Citation=[35]2026.01 | 97.6 | 95.8 | 99.8 | 99 | 77.2 | 97.8 | 95.3 | 97.3 | 46.7 | 91.9 | 91.3 | 92.7 | 99 | 72.7 | 90.4 | 53.8 | 94.1 | 41.6 | 43.4 | |
| World4Drive2026.06 | 97.3 | 89.1 | 97.6 | 99.7 | 60.5 | 96.8 | 87.7 | 93.1 | 60 | 91.4 | 82 | 91 | 98.5 | 53.1 | 90.6 | 52.3 | 93.3 | 62.8 | 34.9 | |
| RAP-DINOBackbone=ViT-H, Data Scale=10x larger than navtrain, Metric Bug Fixing=Before, Citation=[15]2026.01 | 97.1 | 94.4 | 98.8 | 99.8 | 83.9 | 96.9 | 94.7 | 96.4 | 66.2 | 83.2 | 83.9 | 87.4 | 98 | 86.9 | 80.4 | 52.3 | 95.2 | 52.4 | 36.9 | |
| RAP-DINOBackbone=ViT-H, Metric Bug Fixing=After, Citation=[15]2026.01 | 97.1 | 94.4 | 98.8 | 99.8 | 83.9 | 96.9 | 94.7 | 96.4 | 66.2 | 83.2 | 83.9 | 87.4 | 98 | 86.9 | 80.4 | 52.3 | 95.2 | 52.4 | 39.6 | |
| RAP-DINOBackbone=ViT-H2026.06 | 97.1 | 94.4 | 98.8 | 99.8 | 83.9 | 96.9 | 94.7 | 96.4 | 66.2 | 83.2 | 83.9 | 87.4 | 98 | 86.9 | 80.4 | 52.3 | 95.2 | 52.4 | 39.6 | |
| RAP-DINOBackbone=ViT-H, Refinement Strategy=TOAD2026.06 | 97.1 | 95.3 | 99.4 | 100 | 80.3 | 97.8 | 92.9 | 97.6 | 64.4 | 89.9 | 89.7 | 92.5 | 98.2 | 81.4 | 87.7 | 52.1 | 97.2 | 51.1 | 49 | |
| GuideFlow2026.06 | 96.6 | 80.5 | 96.3 | 99.3 | 82.3 | 94.9 | 91.5 | 97.7 | 67.8 | 87.3 | 76.7 | 88.8 | 99.2 | 84.3 | 85.1 | 49.7 | 93.1 | 44.5 | 27.1 | |
| LTFMetric Bug Fixing=Before, Citation=[8]2026.01 | 96.2 | 79.6 | 99.1 | 99.6 | 84.1 | 95.1 | 94.2 | 97.6 | 79.1 | 77.8 | 70.2 | 84.3 | 98.1 | 85.1 | 75.7 | 45.4 | 95.8 | 76 | 23.1 | |
| TransFuser2026.06 | 96.2 | 79.5 | 99.1 | 99.5 | 84.1 | 95.1 | 94.2 | 97.5 | 79.1 | 77.7 | 70.2 | 84.2 | 98 | 85.1 | 75.6 | 45.4 | 95.7 | 75.9 | 23.1 | |
| iPad2026.06 | 96.2 | 94.9 | 96.8 | 99.6 | 82 | 95.8 | 94.2 | 97.8 | 42.2 | 83.6 | 83.2 | 84.8 | 97.7 | 85.4 | 79.7 | 46.8 | 95.2 | 38.9 | 34.7 | |
| MindDrive2026.06 | 96.1 | 86 | 98.8 | 99.3 | 83.3 | 95.6 | 94.4 | 97.6 | 74.7 | 82.6 | 79.1 | 86.4 | 98 | 85.3 | 79.4 | 49.2 | 96.5 | 71 | 30.9 | |
| DiffusionDrive2026.06 | 96 | 79.7 | 97.4 | 99.5 | 81.3 | 93.1 | 90.8 | 96.8 | 73.8 | 82.1 | 72.2 | 88.5 | 98.7 | 85.1 | 78.8 | 49.2 | 89.3 | 71.2 | 24.2 | |
| DiffVLA2026.06 | 95.7 | 99.2 | 100 | 100 | 85.9 | 96.4 | 97.1 | 95 | 84.2 | 81.2 | 88.8 | 94.6 | 99 | 86 | 76.4 | 59.8 | 98.6 | 80.4 | 45 | |
| Senna-E2E2026.06 | 95.6 | 86 | 98.9 | 99.6 | 83.9 | 95.1 | 95.3 | 97.6 | 75.6 | 78.6 | 74.8 | 84.8 | 98.2 | 88.2 | 75.7 | 46.9 | 96 | 65.8 | 27.2 | |
| PDM-ClosedMetric Bug Fixing=Before, Citation=[11]2026.01 | 94.4 | 98.8 | 100 | 99.5 | 100 | 93.5 | 99.3 | 97.7 | 36 | 88.1 | 90.6 | 96.3 | 98.5 | 100 | 83.1 | 73.7 | 91.5 | 25.4 | 51.3 | |
| PDM-Closed2026.06 | 94.4 | 98.8 | 100 | 99.5 | 100 | 93.5 | 99.3 | 87.7 | 36 | 90.5 | 90.6 | 95.4 | 98.4 | 100 | 86.6 | 74.2 | 91.9 | 29.7 | 56.6 | |
| Ego Hist. MLPMetric Bug Fixing=Before, Citation=[12]2026.01 | 93.2 | 55.7 | 86.6 | 99.3 | 81.2 | 92.2 | 83.5 | 97.5 | 77.7 | 77.2 | 51.9 | 74.4 | 98.2 | 77.1 | 75 | 40.8 | 97.8 | 79.8 | 12.7 | |
| Const. Vel.Metric Bug Fixing=Before, Citation=[12]2026.01 | 88.8 | 42.8 | 70.6 | 99.3 | 77.5 | 87.3 | 78.6 | 97.1 | 60.4 | 83.2 | 59.1 | 76.5 | 98 | 71.3 | 81.1 | 47.9 | 97.1 | 61.9 | 10.9 |