Closed-loop planning on nuPlan 1.0 (test14)
90.69Overall ScoreDFP
Evaluation results
| Method | Links | |
|---|---|---|
| DFPType=Learning-based, Evaluation Protocol=NR2026.06 | 90.69 | |
| DFP-FMType=Learning-based, Evaluation Protocol=NR2026.06 | 90.62 | |
| CoPlannerType=Learning-based, Evaluation Protocol=NR2026.06 | 90.31 | |
| Diffusion Planner*Type=Learning-based, Evaluation Protocol=NR, Note=best reimplementation result2026.06 | 90.01 | |
| PLUTOType=Learning-based, Evaluation Protocol=NR2026.06 | 89.9 | |
| Diffusion PlannerType=Learning-based, Evaluation Protocol=NR2026.06 | 89.19 | |
| Log-replayType=Expert, Evaluation Protocol=NR2026.06 | 85.96 | |
| PlanTFType=Learning-based, Evaluation Protocol=NR2026.06 | 85.62 | |
| DFP-FMType=Learning-based, Evaluation Protocol=R2026.06 | 83.59 | |
| Diffusion PlannerType=Learning-based, Evaluation Protocol=R2026.06 | 82.93 | |
| DFPType=Learning-based, Evaluation Protocol=R2026.06 | 81.96 | |
| Diffusion Planner*Type=Learning-based, Evaluation Protocol=R, Note=best reimplementation result2026.06 | 79.61 | |
| PlanTFType=Learning-based, Evaluation Protocol=R2026.06 | 79.58 | |
| CoPlannerType=Learning-based, Evaluation Protocol=R2026.06 | 78.81 | |
| PLUTOType=Learning-based, Evaluation Protocol=R2026.06 | 78.62 | |
| Log-replayType=Expert, Evaluation Protocol=R2026.06 | 68.8 | |
| UrbanDriverType=Learning-based, Evaluation Protocol=R2026.06 | 67.15 | |
| PDM-OpenType=Learning-based, Evaluation Protocol=R2026.06 | 57.23 | |
| PDM-OpenType=Learning-based, Evaluation Protocol=NR2026.06 | 52.81 | |
| UrbanDriverType=Learning-based, Evaluation Protocol=NR2026.06 | 51.83 | |
| GameFormerType=Learning-based, Evaluation Protocol=NR2026.06 | 11.36 | |
| GameFormerType=Learning-based, Evaluation Protocol=R2026.06 | 9.31 |