Closed-loop motion planning on nuPlan 14-Hard (test)
85.96NR-CLSLog-Replay
Evaluation results
| Method | Links | ||||
|---|---|---|---|---|---|
| Log-ReplayType=Expert2026.05 | 85.96 | 91.18 | 68.8 | 73.53 | |
| Log-ReplayType=Expert2026.06 | 85.96 | 91.18 | 68.8 | 73.53 | |
| PLUTOType=Hybrid, emergency_braking=true2026.05 | 79.19 | 88.24 | 75.75 | 84.19 | |
| PLUTOType=Hybrid, rule-based modules for emergency braking=true2026.06 | 79.19 | 88.24 | 75.75 | 84.19 | |
| Diffusion-ESType=Hybrid2026.05 | 77.54 | 84.93 | 77.75 | 87.13 | |
| Diffusion-ESType=Hybrid2026.06 | 77.54 | 84.93 | 77.75 | 87.13 | |
| CALMM-Drive-LType=Knowledge-Driven, backbone=GPT-4O, quoted=true2026.05 | 77.39 | 88.97 | 78.13 | 89.71 | |
| CALMM-Drive-LType=Knowledge-Driven, Base Model=GPT-4o2026.06 | 77.39 | 88.97 | 78.13 | 89.71 | |
| Our ApproachType=Knowledge-Driven2026.05 | 76.26 | 89.34 | 76.25 | 89.71 | |
| LUNA-ADType=Knowledge-Driven2026.06 | 76.11 | 89.71 | 76.78 | 90.44 | |
| Diffusion-PlannerType=Data-Driven2026.05 | 75.29 | 82.72 | 68.83 | 78.31 | |
| Diffusion-PlannerType=Data-Driven2026.06 | 75.29 | 82.72 | 68.83 | 78.31 | |
| PlanTFType=Data-Driven2026.05 | 72.56 | 79.04 | 60.34 | 67.28 | |
| PlanTFType=Data-Driven2026.06 | 72.56 | 79.04 | 60.34 | 67.28 | |
| PlanAgentType=Knowledge-Driven, quoted=true2026.05 | 72.51 | — | 76.82 | — | |
| PlanAgentType=Knowledge-Driven, Origin=Quoted from original publications2026.06 | 72.51 | — | 76.82 | — | |
| CALMM-Drive-MType=Knowledge-Driven, backbone=GPT-4O-MINI, quoted=true2026.05 | 70.04 | 84.19 | 67.85 | 80.88 | |
| CALMM-Drive-MType=Knowledge-Driven, Base Model=GPT-4o-mini2026.06 | 70.04 | 84.19 | 67.85 | 80.88 | |
| PDM-HybridType=Hybrid, emergency_braking=true2026.05 | 65.99 | 79.41 | 76.07 | 86.4 | |
| PDM-HybridType=Hybrid, rule-based modules for emergency braking=true2026.06 | 65.99 | 79.41 | 76.07 | 86.4 | |
| PDM-ClosedType=Rule-Based, emergency_braking=true2026.05 | 65.08 | 78.68 | 75.19 | 85.66 | |
| PDM-ClosedType=Rule-Based, rule-based modules for emergency braking=true2026.06 | 65.08 | 78.68 | 75.19 | 85.66 | |
| GameFormerType=Hybrid2026.05 | 62.94 | 74.26 | 61.53 | 72.79 | |
| GameFormerType=Hybrid2026.06 | 62.94 | 74.26 | 61.53 | 72.79 | |
| IDMType=Rule-Based2026.05 | 56.16 | 65.81 | 62.26 | 71.69 | |
| IDMType=Rule-Based2026.06 | 56.16 | 65.81 | 62.26 | 71.69 | |
| UrbanDriverOLType=Data-Driven2026.05 | 51.67 | 59.2 | 49.06 | 55.51 | |
| UrbanDriverOLType=Data-Driven2026.06 | 51.67 | 59.2 | 49.06 | 55.51 | |
| RasterModelType=Data-Driven2026.05 | 50.65 | 58.09 | 52.44 | 59.56 | |
| RasterModelType=Data-Driven2026.06 | 50.65 | 58.09 | 52.44 | 59.56 | |
| GC-PGPType=Data-Driven2026.06 | 47.51 | 56.62 | 42.8 | 51.84 |