Closed-loop planning on NAVSIM
100NC MetricHuman
Evaluation results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| HumanInput=-, Train Data (S)=-, Train Data (N)=-, Train Data (W)=-2026.05 | 100 | 87.5 | 99.9 | 100 | 100 | 94.8 | |
| CaADRL-based methods=true2026.05 | 99.4 | 84.9 | — | 95.9 | 98.3 | 91.1 | |
| Driving-GPTMethod type=IL2026.04 | 98.9 | 79.7 | 95.6 | 94.9 | 90.7 | 82.4 | |
| WoTEMethod type=IL2026.04 | 98.5 | 81.9 | 99.9 | 94.9 | 97.3 | 88.3 | |
| DIVERRL-based methods=true2026.05 | 98.5 | 82.6 | — | 94.9 | 96.5 | 88.3 | |
| DriveDPORL-based methods=true2026.05 | 98.5 | 84.3 | — | 94.8 | 98.1 | 90 | |
| WoTEInput=C & L, Train Data (S)=false, Train Data (N)=true, Train Data (W)=false, Uses perception annotations=true2026.05 | 98.5 | 81.9 | 99.9 | 94.9 | 96.8 | 88.3 | |
| WOTERL-based methods=false2026.05 | 98.4 | 81.7 | — | 94.5 | 96.6 | 88 | |
| ReCogDrive-ILMethod type=IL2026.04 | 98.3 | 81.1 | 100 | 94.3 | 95.1 | 86.8 | |
| GoalFlowRL-based methods=false2026.05 | 98.3 | 79.8 | — | 94.3 | 93.8 | 85.7 | |
| Hydra-MDPInput=C & L, Train Data (S)=false, Train Data (N)=true, Train Data (W)=false, Uses perception annotations=true2026.05 | 98.3 | 78.7 | 100 | 94.6 | 96 | 86.5 | |
| DiffusionDriveMethod type=IL2026.04 | 98.2 | 82.2 | 100 | 94.7 | 96.2 | 88.1 | |
| FeaXDriveMethod type=IL+RLFT2026.04 | 98.2 | 84.2 | 100 | 94.7 | 98.3 | 90 | |
| DiffusionDriveRL-based methods=false2026.05 | 98.2 | 82.2 | — | 94.7 | 96.2 | 88.1 | |
| FeaXDrive-ILMethod type=IL2026.04 | 98.1 | 83.3 | 100 | 93.6 | 97.5 | 88.7 | |
| ReCogDrive w/GRPOMethod type=IL+RLFT2026.04 | 98.1 | 85.9 | 100 | 95 | 96.7 | 90.5 | |
| DRAMAMethod type=IL2026.04 | 98 | 80.1 | 100 | 94.8 | 93.1 | 85.5 | |
| TransFuser w/GRPOMethod type=IL+RLFT2026.04 | 98 | 88.5 | 100 | 96.6 | 94.7 | 87.9 | |
| Hydra-MDPMethod type=IL2026.04 | 97.9 | 77.6 | 100 | 92.9 | 91.7 | 83 | |
| PARA-DriveMethod type=IL2026.04 | 97.9 | 79.3 | 99.8 | 93 | 92.4 | 84 | |
| PARA-DriveRL-based methods=false2026.05 | 97.9 | 79.3 | — | 93 | 92.4 | 84 | |
| ReCogDriveRL-based methods=true2026.05 | 97.9 | 87.3 | — | 94.9 | 97.3 | 90.8 | |
| VADv2Input=C, Train Data (S)=false, Train Data (N)=true, Train Data (W)=false, Uses perception annotations=true2026.05 | 97.9 | 77.6 | 100 | 92.9 | 91.7 | 83 | |
| PARA-DriveInput=C, Train Data (S)=false, Train Data (N)=true, Train Data (W)=false, Uses perception annotations=true2026.05 | 97.9 | 79.3 | 99.8 | 93 | 92.4 | 84 | |
| UniADMethod type=IL2026.04 | 97.8 | 78.8 | 100 | 92.9 | 91.9 | 83.4 | |
| UniADInput=C, Train Data (S)=false, Train Data (N)=true, Train Data (W)=false, Uses perception annotations=true2026.05 | 97.8 | 78.8 | 100 | 92.9 | 91.9 | 83.4 | |
| TransFuserMethod type=IL2026.04 | 97.7 | 79.2 | 100 | 92.8 | 92.8 | 84 | |
| TransFuserInput=C & L, Train Data (S)=false, Train Data (N)=true, Train Data (W)=false2026.05 | 97.7 | 79.2 | 100 | 92.8 | 92.8 | 84 | |
| HEATInput=C, Train Data (S)=true, Train Data (N)=true, Train Data (W)=true2026.05 | 97.7 | 80.2 | 100 | 93 | 93.9 | 85.2 | |
| Hydra-MDP++RL-based methods=false2026.05 | 97.6 | 80.4 | — | 93.1 | 96 | 86.6 | |
| LTFInput=C, Train Data (S)=false, Train Data (N)=true, Train Data (W)=false2026.05 | 97.4 | 79 | 100 | 92.4 | 92.8 | 83.8 | |
| World4DriveInput=C, Train Data (S)=false, Train Data (N)=true, Train Data (W)=false2026.05 | 97.4 | 79.9 | 100 | 92.8 | 94.3 | 85.1 | |
| VADv2Method type=IL2026.04 | 97.2 | 76 | 100 | 91.6 | 89.1 | 80.9 | |
| LAWRL-based methods=false2026.05 | 96.4 | 81.7 | — | 88.7 | 95.4 | 84.6 | |
| LAWInput=C, Train Data (S)=false, Train Data (N)=true, Train Data (W)=false2026.05 | 96.4 | 81.7 | 99.9 | 88.7 | 95.4 | 84.6 | |
| BEVPlanner++Input=C, Train Data (S)=false, Train Data (N)=true, Train Data (W)=false2026.05 | 96.2 | 74.6 | 100 | 90 | 89.1 | 79 | |
| BEVPlanner++Input=C, Train Data (S)=true, Train Data (N)=true, Train Data (W)=true2026.05 | 94.4 | 66.2 | 100 | 86.7 | 80.1 | 69.6 | |
| LAWInput=C, Train Data (S)=true, Train Data (N)=true, Train Data (W)=true2026.05 | 93.7 | 69.7 | 98.4 | 86.4 | 83.9 | 72.3 | |
| LTFInput=C, Train Data (S)=true, Train Data (N)=true, Train Data (W)=true2026.05 | 92.4 | 36.4 | 81.3 | 87.6 | 83.8 | 55.6 | |
| Constant VelocityInput=-, Train Data (S)=-, Train Data (N)=-, Train Data (W)=-2026.05 | 69.9 | 49.3 | 100 | 49.3 | 58.8 | 21.6 |