Closed-loop Planning on NAVSIM Navhard V2 (test)
96.8NC (Navigation Completion)DiffusionDrive + Ours
Evaluation Results
| Method | Links | |||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
| DiffusionDrive + OursBackbone=ResNet-34, Stage=Stage 12026.03 | 96.8 | 82.9 | 98.8 | 99.3 | 83.6 | 95.8 | 96 | 97.6 | 77.3 | 64.1 | 28.7 | |
| DiffusionDriveBackbone=ResNet-34, Stage=Stage 12026.03 | 96.3 | 84.7 | 98.7 | 99.3 | 84.3 | 95.3 | 94.4 | 97.8 | 76.4 | 65.5 | 25.9 | |
| LTFBackbone=ResNet-34, Stage=Stage 12026.03 | 96.2 | 79.6 | 99.1 | 99.6 | 84.1 | 95.1 | 94.2 | 97.6 | 79.1 | 62.3 | 23.1 | |
| DiffusionDrive + OursBackbone=ResNet-34, Stage=Stage 22026.03 | 81.5 | 74.4 | 86.9 | 98.1 | 85.2 | 78.6 | 49.2 | 95.7 | 74.2 | 43.4 | 28.7 | |
| DiffusionDriveBackbone=ResNet-34, Stage=Stage 22026.03 | 79.5 | 71.2 | 84.9 | 98.3 | 86.5 | 75.6 | 46.9 | 96.2 | 70.9 | 39.6 | 25.9 | |
| LTFBackbone=ResNet-34, Stage=Stage 22026.03 | 77.8 | 70.4 | 84.3 | 98.1 | 85.1 | 75.7 | 45.4 | 95.7 | 76 | 37.5 | 23.1 |