Closed-loop Autonomous Driving Planning on NAVSIM v1 (test)
100NCHuman
Evaluation results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| HumanRef=–, Sensors=–2025.11 | 100 | 100 | 100 | 99.9 | 87.5 | 94.8 | |
| Drive-JEPA2026.06 | 99.1 | 98.2 | 95.9 | 99.9 | 90.8 | 93.3 | |
| CLEAR2026.06 | 99.1 | 98.8 | 97.2 | 99.6 | 89.7 | 93.7 | |
| ELF-VLA-8BBackbone=InternVL3-8B [47], Input=Cam2026.06 | 98.9 | 98.1 | 96 | 100 | 85.3 | 91 | |
| DriveVLA-W0*Ref=ICLR’26, Sensors=C2025.11 | 98.7 | 99.1 | 95.3 | 99.3 | 83.3 | 90.2 | |
| DriveVLA-W0Backbone=Qwen2.5-VL-3B [32], Input=Cam2026.06 | 98.7 | 99.1 | 95.3 | 99.3 | 83.3 | 90.3 | |
| LaST-VLABackbone=InternVL3-8B [47], Input=Cam2026.06 | 98.7 | 97.9 | 95.6 | 100 | 86.8 | 91.3 | |
| SGDrive-2BImage Input=true, Lidar Input=false, Training Strategy=SFT2026.01 | 98.6 | 95.1 | 95.4 | 100 | 81.2 | 87.4 | |
| SGDrive-2BImage Input=true, Lidar Input=false, Training Strategy=RFT2026.01 | 98.6 | 97.8 | 96.2 | 100 | 85.8 | 91.1 | |
| MeanFuserRef=CVPR’26, Sensors=C2025.11 | 98.6 | 97 | 95 | 100 | 82.8 | 89 | |
| iPad2026.06 | 98.6 | 98.3 | 94.9 | 100 | 88 | 91.7 | |
| DriveSuprim2026.06 | 98.6 | 98.6 | 95.5 | 100 | 91.3 | 93.5 | |
| PWMBackbone=Show-o [35], Input=Cam2026.06 | 98.6 | 95.9 | 95.4 | 100 | 81.8 | 88.1 | |
| WoTEImage Input=true, Lidar Input=true2026.01 | 98.5 | 96.8 | 94.9 | 99.9 | 81.9 | 88.3 | |
| WoTERef=ICCV’25, Sensors=C + L2025.11 | 98.5 | 96.8 | 94.4 | 99.9 | 81.9 | 88.3 | |
| DriveDPOBackbone=-, Input=Cam + L2026.06 | 98.5 | 98.1 | 94.8 | 99.9 | 84.3 | 90 | |
| AutoDrive-R2Backbone=Qwen2.5-VL-7B [32], Input=Cam2026.06 | 98.5 | 95.9 | 95.4 | 100 | 82.7 | 89.1 | |
| SeerDriveImage Input=true, Lidar Input=true2026.01 | 98.4 | 97 | 94.9 | 99.9 | 83.2 | 88.9 | |
| AutoVLA-3BImage Input=true, Lidar Input=false, Training Strategy=RFT2026.01 | 98.4 | 95.6 | 98 | 99.9 | 81.9 | 89.1 | |
| AutoVLARef=NeurIPS’25, Sensors=C2025.11 | 98.4 | 95.6 | 98 | 99.9 | 81.9 | 89.1 | |
| GoalFlow2026.06 | 98.4 | 98.3 | 94.6 | 100 | 85 | 90.3 | |
| AutoVLABackbone=Qwen2.5-VL-3B [32], Input=Cam2026.06 | 98.4 | 95.6 | 98 | 99.9 | 81.9 | 89.1 | |
| AdaThinkDriveBackbone=InternVL3-8B [47], Input=Cam2026.06 | 98.4 | 97.8 | 95.2 | 100 | 84.4 | 90.3 | |
| Hydra-MDP-V8192-W-EPImage Input=true, Lidar Input=true2026.01 | 98.3 | 96 | 94.6 | 100 | 78.7 | 86.5 | |
| ARTEMISImage Input=true, Lidar Input=true2026.01 | 98.3 | 95.1 | 94.3 | 100 | 81.4 | 87 | |
| ReCogDrive-8BImage Input=true, Lidar Input=false, Training Strategy=SFT2026.01 | 98.3 | 95.1 | 94.3 | 100 | 81.1 | 86.8 | |
| Hydra-MDP++Backbone=-, Input=Cam + L2026.06 | 98.3 | 96 | 94.6 | 100 | 78.7 | 86.5 | |
| ArtemisBackbone=-, Input=Cam2026.06 | 98.3 | 95.1 | 94.3 | 99.8 | 81.4 | 87 | |
| DiffusionDriveImage Input=true, Lidar Input=true2026.01 | 98.2 | 96.2 | 94.7 | 100 | 82.2 | 88.1 | |
| DiffusionDriveRef=CVPR’25, Sensors=C + L2025.11 | 98.2 | 96.2 | 94.7 | 100 | 82.2 | 88.1 | |
| ReCogDriveRef=arXiv’25, Sensors=C2025.11 | 98.2 | 97.8 | 95.2 | 99.8 | 83.5 | 89.6 | |
| DiffusionDrive2026.06 | 98.2 | 96.2 | 94.7 | 100 | 82.2 | 88.1 | |
| DiffusionDriveBackbone=-, Input=Cam + L2026.06 | 98.2 | 96.1 | 94.8 | 100 | 82.2 | 88.1 | |
| ReCogDriveBackbone=InternVL3-8B [47], Input=Cam2026.06 | 98.2 | 97.5 | 95.2 | 99.9 | 83.5 | 89.6 | |
| FSDriveBackbone=Qwen2-VL-2B [33], Input=Cam2026.06 | 98.2 | 93.8 | 93.3 | 99.9 | 80.1 | 85.1 | |
| ReCogDrive-2BImage Input=true, Lidar Input=false, Training Strategy=SFT2026.01 | 98.1 | 94.7 | 94.2 | 100 | 80.9 | 86.5 | |
| DAPRef=–, Sensors=C2025.11 | 98.1 | 97.9 | 97.7 | 100 | 86.8 | 90 | |
| DrivingGPTBackbone=LLaMA2-7B [30], Input=Cam2026.06 | 98.1 | 90.7 | 94.9 | 95.6 | 79.7 | 82.4 | |
| DRAMAImage Input=true, Lidar Input=true2026.01 | 98 | 93.1 | 94.8 | 100 | 80.1 | 85.5 | |
| IRR-Drive-3BBackbone=Qwen2.5-VL-3B [32], Input=Cam2026.06 | 98 | 97.4 | 94.4 | 100 | 87.4 | 90.6 | |
| IRR-Drive-4BBackbone=Qwen3-VL-4B [1], Input=Cam2026.06 | 98 | 98.3 | 93.7 | 100 | 88.5 | 91.3 | |
| Hydra-MDP-V8192Image Input=true, Lidar Input=true2026.01 | 97.9 | 91.7 | 92.9 | 100 | 77.6 | 83 | |
| PARA-DriveImage Input=true, Lidar Input=false2026.01 | 97.9 | 92.4 | 93 | 99.8 | 79.3 | 84 | |
| EponaImage Input=true, Lidar Input=false2026.01 | 97.9 | 95.1 | 93.8 | 99.9 | 80.4 | 86.2 | |
| ReCogDrive-2BImage Input=true, Lidar Input=false, Training Strategy=RFT2026.01 | 97.9 | 97.3 | 94.9 | 100 | 87.3 | 90.8 | |
| ReCogDrive2026.06 | 97.9 | 97.3 | 94.9 | 100 | 87.3 | 90.8 | |
| EponaBackbone=DiT-2.5B [23], Input=Cam2026.06 | 97.9 | 95.1 | 93.8 | 99.9 | 80.4 | 86.2 | |
| UniADImage Input=true, Lidar Input=false2026.01 | 97.8 | 91.9 | 92.9 | 100 | 78.8 | 83.4 | |
| QwenVL2.5-8BImage Input=true, Lidar Input=false, Training Strategy=SFT, Fine-tuned on NAVSIM trajectory dataset=true2026.01 | 97.8 | 92.1 | 92.8 | 100 | 78.3 | 83.3 | |
| ReCogDrive-8BImage Input=true, Lidar Input=false, Training Strategy=RFT2026.01 | 97.8 | 97.7 | 94.9 | 100 | 86.3 | 90.5 | |
| UniADRef=CVPR’23, Sensors=C2025.11 | 97.8 | 91.9 | 92.9 | 100 | 78.8 | 83.4 | |
| BevDriveImage Input=true, Lidar Input=true2026.01 | 97.7 | 92.5 | 92.9 | 100 | 78.7 | 83.8 | |
| TransFuserImage Input=true, Lidar Input=true2026.01 | 97.7 | 92.8 | 92.8 | 100 | 79.2 | 84 | |
| TransFuserRef=TPAMI’23, Sensors=C + L2025.11 | 97.7 | 92.8 | 92.8 | 100 | 79.2 | 84 | |
| TransFuserBackbone=-, Input=Cam + L2026.06 | 97.7 | 92.8 | 92.8 | 100 | 79.2 | 84 | |
| LTFImage Input=true, Lidar Input=false2026.01 | 97.4 | 92.8 | 92.4 | 100 | 79 | 83.8 | |
| VADv2-V8192Image Input=true, Lidar Input=false2026.01 | 97.2 | 89.1 | 91.6 | 100 | 76 | 80.9 | |
| VADv2Backbone=-, Input=Cam2026.06 | 97.2 | 89.1 | 91.6 | 100 | 76 | 80.9 | |
| InternVL3-8BImage Input=true, Lidar Input=false, Training Strategy=SFT, Fine-tuned on NAVSIM trajectory dataset=true2026.01 | 97 | 92.4 | 91.8 | 100 | 78.9 | 83.3 | |
| AutoVLA-3BImage Input=true, Lidar Input=false, Training Strategy=SFT2026.01 | 96.9 | 92.4 | 88.1 | 99.1 | 75.8 | 80.5 | |
| DAPBackbone=MiMo-VL-7B [12], Input=Cam+L2026.06 | 95.2 | 97.4 | 96.5 | 100 | 82.2 | 87.2 | |
| Ego Status MLPImage Input=false, Lidar Input=false2026.01 | 93 | 77.3 | 83.6 | 100 | 62.8 | 65.6 | |
| Constant VelocityImage Input=false, Lidar Input=false2026.01 | 68 | 57.8 | 50 | 100 | 19.4 | 20.6 |