Closed-loop Planning on NAVSIM v2
99NCCLEAR
Evaluation results
| Method | Links | ||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|
| CLEARBackbone=ViT/L2026.06 | 99 | 98.7 | 99.6 | 96.9 | 91 | 98.4 | 92.9 | 96.4 | 79.5 | 88.6 | |
| Drive-JEPABackbone=ResNet342026.06 | 98.8 | 97.4 | 99 | 99.8 | 83.5 | 98 | 96.2 | 98.1 | 85.6 | 85.4 | |
| iPadBackbone=ResNet342026.06 | 98.7 | 97.8 | 99.1 | 99.8 | 84 | 98 | 96 | 98 | 68.2 | 84.1 | |
| iPadBackbone=ViT/L2026.06 | 98.7 | 98 | 98.9 | 99.8 | 86.6 | 98.3 | 97.2 | 98.3 | 74.6 | 85.8 | |
| DriveWorld-VLAParadigm=VLA-based2026.02 | 98.6 | 99.1 | 99.6 | 99.8 | 87.4 | 97.9 | 97 | 97.8 | 78.6 | 86.8 | |
| DriveVLA-W0Paradigm=VLA-based2026.02 | 98.5 | 99.1 | 98 | 99.7 | 86.4 | 98.1 | 93.2 | 97.9 | 58.9 | 86.1 | |
| DriveVLA-W0Perception approach=Perception-free, Perception-based annotation=false2026.03 | 98.5 | 99.1 | 98 | 99.7 | 86.4 | 98.1 | 93.2 | 97.9 | 58.9 | 86.1 | |
| HydraMDP++Backbone=ViT/L2026.06 | 98.5 | 98.5 | 99.5 | 99.7 | 87.4 | 97.9 | 95.8 | 98.2 | 75.7 | 85.6 | |
| Drive-JEPAPerception approach=Perception-based, Perception-based annotation=true2026.03 | 98.4 | 98.6 | 99.1 | 99.8 | 88.4 | 97.8 | 97.6 | 97.9 | 84.8 | 87.8 | |
| DriveSuprimBackbone=ViT/L2026.06 | 98.4 | 98.6 | 99.6 | 99.8 | 90.5 | 97.8 | 97 | 98.3 | 78.6 | 87.1 | |
| Drive-JEPABackbone=ViT/L2026.06 | 98.4 | 98.6 | 99.1 | 99.8 | 88.4 | 97.8 | 97.6 | 97.9 | 84.8 | 87.8 | |
| ARTEMISParadigm=E2E-based2026.02 | 98.3 | 95.1 | 98.6 | 99.8 | 81.5 | 97.4 | 96.5 | 98.3 | — | 83.1 | |
| ReCogDrivePerception approach=Perception-based, Perception-based annotation=false2026.03 | 98.3 | 95.2 | 99.5 | 99.8 | 87.1 | 97.5 | 96.6 | 98.3 | 86.5 | 83.6 | |
| DiffusionDriveParadigm=E2E-based2026.02 | 98.2 | 95.9 | 99.4 | 99.8 | 87.5 | 97.3 | 96.8 | 98.3 | 87.7 | 84.5 | |
| DiffusionDrivePerception approach=Perception-based, Perception-based annotation=false2026.03 | 98.2 | 95.9 | 99.4 | 99.8 | 87.5 | 97.3 | 96.8 | 98.3 | 87.7 | 84.5 | |
| Latent-WAMPerception approach=Perception-free, Perception-based annotation=false2026.03 | 98.1 | 97.3 | 99.6 | 99.8 | 87.7 | 97.3 | 97.6 | 98.1 | 87.3 | 89.3 | |
| WorldRFTPerception approach=Perception-based, Perception-based annotation=false2026.03 | 97.8 | 96.5 | 99.5 | 99.8 | 88.5 | 97 | 97.4 | 98.1 | 69.1 | 86.7 | |
| World4DrivePerception approach=Perception-free, Perception-based annotation=false2026.03 | 97.8 | 96.3 | 99.4 | 99.8 | 88.3 | 97.1 | 97.7 | 98 | 53.9 | 84.8 | |
| DrivesuprimParadigm=E2E-based2026.02 | 97.5 | 96.5 | 99.4 | 99.6 | 88.4 | 96.6 | 95.5 | 98.3 | 77 | 83.1 | |
| DriveSuprimPerception approach=Perception-based, Perception-based annotation=false2026.03 | 97.5 | 96.5 | 99.4 | 99.6 | 88.4 | 96.6 | 95.5 | 98.3 | 77 | 83.1 | |
| DriveSuprimBackbone=ResNet342026.06 | 97.5 | 96.5 | 99.4 | 99.6 | 88.4 | 96.6 | 95.5 | 98.3 | 77 | 83.1 | |
| HydraMDP++Paradigm=E2E-based2026.02 | 97.2 | 97.5 | 99.4 | 99.6 | 83.1 | 96.5 | 94.4 | 98.2 | 70.9 | 81.4 | |
| HydraMDP++Backbone=ResNet342026.06 | 97.2 | 97.5 | 99.4 | 99.6 | 83.1 | 96.5 | 94.4 | 98.2 | 70.9 | 81.4 | |
| EponaPerception approach=Perception-free, Perception-based annotation=false2026.03 | 97.1 | 95.7 | 99.3 | 99.7 | 88.6 | 96.3 | 97 | 98 | 67.8 | 85.1 | |
| TransFuserParadigm=E2E-based2026.02 | 96.9 | 89.9 | 97.8 | 99.7 | 87.1 | 95.4 | 92.7 | 98.3 | 87.2 | 76.7 | |
| TransFuserPerception approach=Perception-based, Perception-based annotation=false2026.03 | 96.9 | 89.9 | 97.8 | 99.7 | 87.1 | 95.4 | 92.7 | 98.3 | 87.2 | 76.7 | |
| TransfuserBackbone=ResNet342026.06 | 96.9 | 89.9 | 97.8 | 99.7 | 87.1 | 95.4 | 92.7 | 98.3 | 87.2 | 76.7 |