Closed-loop planning on NAVSIM v1 (test)
91PDMSUNIVERSE
Evaluation results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| UNIVERSEImage=true, Lidar=false, Category=UNIVERSE Variant2026.07 | 91 | 99.1 | 97.6 | 98.5 | 100 | 83.6 | |
| UNIVERSE w.o. MaskImage=true, Lidar=false, Category=UNIVERSE Variant2026.07 | 90.9 | 99.2 | 97.5 | 98.7 | 100 | 83.5 | |
| CoWorld-VLASensors=Camera, Frames=12026.05 | 89.8 | 99.2 | 96.8 | 96.6 | 100 | 83.6 | |
| UNIVERSE Two-DiTImage=true, Lidar=false, Category=UNIVERSE Variant2026.07 | 89.6 | 98.9 | 96.2 | 98.3 | 99.9 | 82.7 | |
| Uni-World VLASensors=Camera, Frames=N2026.05 | 89.4 | 98.7 | 96.7 | 96.1 | 100 | 83.2 | |
| DriveLaWSensors=Camera, Frames=N2026.05 | 89.1 | 99 | 97.1 | 96.7 | 100 | 81.3 | |
| CoWorld-VLASensors=Camera, Frames=1, integration=ReCogDrive [50] action expert2026.05 | 89.1 | 98.5 | 96.9 | 95.4 | 100 | 83.2 | |
| DriveLaWImage=true, Lidar=false, Category=World Model2026.07 | 89.1 | 99 | 97.1 | 96.7 | 100 | 81.3 | |
| ResWorldSensors=Camera & LiDAR, Frames=N2026.05 | 89 | 98.9 | 96.5 | 95.6 | 100 | 83.1 | |
| WorldDriveSensors=Camera, Frames=N2026.05 | 89 | 98.4 | 96.8 | 95.2 | 100 | 83.3 | |
| TrajDiffSensors=Camera & LiDAR, Frames=N2026.05 | 88.5 | 98.1 | 97 | 94.3 | 100 | 82.7 | |
| WoTESensors=Camera & LiDAR, Frames=N2026.05 | 88.3 | 98.5 | 96.8 | 94.9 | 99.9 | 81.9 | |
| WoTEImage=true, Lidar=true, Category=World Model2026.07 | 88.3 | 98.5 | 96.8 | 94.9 | 99.9 | 81.9 | |
| UNIVERSE w.o. video co-trainImage=true, Lidar=false, Category=UNIVERSE Variant2026.07 | 88.2 | 98.8 | 95.5 | 98.2 | 99.7 | 80.4 | |
| DiffusionDriveSensors=Camera & LiDAR, Frames=N2026.05 | 88.1 | 98.2 | 96.2 | 94.7 | 100 | 82.2 | |
| PWMSensors=Camera, Frames=N2026.05 | 88.1 | 98.6 | 95.9 | 95.4 | 100 | 81.8 | |
| DiffusionDriveImage=true, Lidar=true, Category=Traditional End-to-End2026.07 | 88.1 | 98.2 | 96.2 | 94.7 | 100 | 82.2 | |
| PWMImage=true, Lidar=false, Category=World Model2026.07 | 88.1 | 98.6 | 95.9 | 95.4 | 100 | 81.8 | |
| SGDriveSensors=Camera, Frames=N, reinforcement_learning=No2026.05 | 87.4 | 98.6 | 95.1 | 95.4 | 100 | 81.2 | |
| LaST-VLASensors=Camera, Frames=1, reinforcement_learning=No2026.05 | 87.3 | 98.7 | 95.4 | 95.7 | 100 | 80.5 | |
| DriveVLA-W0Sensors=Camera, Frames=N2026.05 | 87.2 | 98.4 | 95.3 | 95.4 | 100 | 80.9 | |
| DriveVLA-W0Image=true, Lidar=false, Category=World Model2026.07 | 87.2 | 98.4 | 95.3 | 95.2 | 100 | 80.9 | |
| ResimSensors=Camera, Frames=N2026.05 | 86.6 | — | — | — | — | — | |
| ResimImage=true, Lidar=false, Category=World Model2026.07 | 86.6 | — | — | — | — | — | |
| Hydra-MDPSensors=Camera & LiDAR, Frames=N2026.05 | 86.5 | 98.3 | 96 | 94.6 | 100 | 78.7 | |
| ReCogDriveSensors=Camera, Frames=1, reinforcement_learning=No2026.05 | 86.5 | 98.1 | 94.7 | 94.2 | 100 | 80.9 | |
| ReCogDrive-ILImage=true, Lidar=false, Category=Traditional End-to-End2026.07 | 86.5 | 98.1 | 94.7 | 94.2 | 100 | 80.9 | |
| EponaSensors=Camera, Frames=N2026.05 | 86.2 | 97.9 | 95.1 | 93.8 | 99.9 | 80.4 | |
| EponaImage=true, Lidar=false, Category=World Model2026.07 | 86.2 | 97.9 | 95.1 | 93.8 | 99.9 | 80.4 | |
| FSDriveSensors=Camera, Frames=N2026.05 | 85.1 | 98.2 | 93.8 | 93.3 | 99.9 | 80.1 | |
| LAWSensors=Camera, Frames=N2026.05 | 84.6 | 96.4 | 95.4 | 88.7 | 99.9 | 81.7 | |
| LAWImage=true, Lidar=false, Category=World Model2026.07 | 84.6 | 96.4 | 95.4 | 88.7 | 99.9 | 81.7 | |
| TransFuserImage=true, Lidar=true, Category=Traditional End-to-End2026.07 | 84 | 97.7 | 92.8 | 92.8 | 100 | 79.2 | |
| PARA-DriveImage=true, Lidar=false, Category=Traditional End-to-End2026.07 | 84 | 97.9 | 92.4 | 93 | 99.8 | 79.3 | |
| UniADSensors=Camera, Frames=N2026.05 | 83.4 | 97.8 | 91.9 | 92.9 | 100 | 78.8 | |
| UniADImage=true, Lidar=false, Category=Traditional End-to-End2026.07 | 83.4 | 97.8 | 91.9 | 92.9 | 100 | 78.8 | |
| DrivingGPTImage=true, Lidar=false, Category=World Model2026.07 | 82.4 | 98.9 | 90.7 | 94.9 | 95.6 | 79.7 | |
| VADv2-V8192Image=true, Lidar=false, Category=Traditional End-to-End2026.07 | 80.9 | 97.2 | 89.1 | 91.6 | 100 | 76 |