Autonomous Driving Trajectory Planning on NAVSIM navhard-two-stage v2 (test)

99.8Stage 1 NCDriveFuture

Evaluation Results

Method
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
SimScale2026.01	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
DrivoR2026.01	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
DrivoR2026.06	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-A2026.01	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-D2026.01	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
ZTRS2026.01	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-D2026.01	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-A2026.01	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
ZTRS2026.01	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
DrivoR2026.01	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
GTRS2026.06	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
ZTRS2026.06	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
DrivoR2026.06	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
DrivoR2026.01	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
DrivoR2026.01	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-D2026.01	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-A2026.01	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
DriveSuprim2026.01	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
GTRS2026.06	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
ZTRS2026.06	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-MDP2026.06	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-DrivoR2026.01	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-DrivoR2026.01	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
iPad2026.06	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-D2026.01	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-DINO2026.01	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-DINO2026.01	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-DINO2026.06	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-DINO2026.06	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
LTF2026.01	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-Closed2026.01	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. MLP2026.01	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.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