Closed-loop Planning on Bench2Drive Base set
88.3Driving ScoreMAPLE
Evaluation Results
| Method | Links | ||||
|---|---|---|---|---|---|
| MAPLECondition=Navigation Command (NC), Geometric path waypoint supervision=true2026.05 | 88.3 | 70.5 | 210.3 | 39 | |
| DiffRefinerCondition=Navigation Command (NC), Geometric path waypoint supervision=false2026.05 | 87.1 | 71.4 | — | — | |
| HiP-ADCondition=Navigation Command (NC), Geometric path waypoint supervision=true2026.05 | 86.8 | 69.1 | 203.1 | 19.4 | |
| MAPLECondition=Navigation Command (NC), Geometric path waypoint supervision=false2026.05 | 85.2 | 67.1 | 184.3 | 37.9 | |
| SimLingoCondition=Target Point (TP), Geometric path waypoint supervision=true2026.05 | 85.1 | 67.3 | 259.2 | 33.7 | |
| GeRoCondition=Navigation Command (NC), Geometric path waypoint supervision=false2026.05 | 81.9 | 60.1 | 176.5 | 40.2 | |
| ORIONCondition=Navigation Command (NC), Geometric path waypoint supervision=false2026.05 | 77.7 | 54.6 | 151.5 | 17.4 | |
| ReCogDriveCondition=Navigation Command (NC), Geometric path waypoint supervision=false2026.05 | 71.4 | 45.5 | 138.2 | 17.5 | |
| DriveAdapterCondition=Target Point (TP), Geometric path waypoint supervision=false2026.05 | 64.2 | 33.1 | 70.2 | 16 | |
| Qwen2.5Condition=Navigation Command (NC), Geometric path waypoint supervision=false2026.05 | 63.9 | 31.6 | 119.3 | 10.1 | |
| DriveTransformer-LCondition=Navigation Command (NC), Geometric path waypoint supervision=false2026.05 | 63.5 | 35 | 100.6 | 20.8 | |
| ThinkTwiceCondition=Target Point (TP), Geometric path waypoint supervision=false2026.05 | 62.4 | 31.2 | 69.3 | 16.2 | |
| TCP-trajCondition=Target Point (TP), Geometric path waypoint supervision=false2026.05 | 59.9 | 30 | 76.5 | 18.1 | |
| UniAD-BaseCondition=Navigation Command (NC), Geometric path waypoint supervision=false2026.05 | 45.8 | 16.4 | 129.2 | 43.6 | |
| MomADCondition=Navigation Command (NC), Geometric path waypoint supervision=false2026.05 | 44.5 | 16.7 | 170.2 | 48.6 | |
| VADCondition=Navigation Command (NC), Geometric path waypoint supervision=false2026.05 | 42.4 | 15 | 157.9 | 46 |