Closed-loop Trajectory Planning on NAVSIM (navtest)
98.9NCSNG-VLA
Evaluation results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| SNG-VLAInput=C-single, Navigation=SNG2026.04 | 98.9 | 96.5 | 83.8 | 92.9 | 100 | 88.24 | |
| AutoDrive-R²Parameters=7B2025.09 | 98.5 | 95.9 | 82.7 | 95.4 | 100 | 89.1 | |
| SNG-VLA-QAInput=C-single, Navigation=SNG2026.04 | 98.4 | 96.7 | 83.4 | 93.1 | 100 | 88.21 | |
| Hydra-MDPInput=C & L, Navigation=CM2026.04 | 98.3 | 96 | 78.7 | 94.6 | 100 | 86.5 | |
| DiffusionDriveInput=C & L, Navigation=CM2026.04 | 98.2 | 96.2 | 82.2 | 94.7 | 100 | 88.1 | |
| DRAMAInput=C & L, Navigation=CM2026.04 | 98 | 93.1 | 80.1 | 94.8 | 100 | 85.5 | |
| PARA-DriveInput=C & L, Navigation=CM2026.04 | 97.9 | 92.4 | 79.3 | 93 | 99.8 | 84 | |
| Para-Drive2025.09 | 97.9 | 92.4 | 79.3 | 93 | 99.8 | 84 | |
| UniADInput=C & L, Navigation=CM2026.04 | 97.8 | 91.9 | 78.8 | 92.9 | 100 | 83.4 | |
| TransfuserInput=C & L, Navigation=SNG2026.04 | 97.8 | 94.5 | 80 | 93.5 | 100 | 85.5 | |
| UniAD2025.09 | 97.8 | 91.9 | 78.8 | 92.9 | 100 | 83.4 | |
| TransfuserInput=C & L, Navigation=CM2026.04 | 97.7 | 92.8 | 79.2 | 92.8 | 100 | 84 | |
| TransFuser2025.09 | 97.7 | 92.8 | 79.2 | 92.8 | 100 | 84.1 | |
| LTFInput=C & L, Navigation=CM2026.04 | 97.4 | 92.8 | 79 | 92.4 | 100 | 83.8 | |
| VGGDriveBase Model=Qwen2.5-VL-7B, Image=true, Lidar=false2026.02 | 0.9855 | 0.963 | 0.8292 | 95.59 | 0.9998 | 0.8876 | |
| WoTEBase Model=E2E, Image=true, Lidar=true2026.02 | 0.985 | 0.968 | 0.819 | 94.9 | 0.999 | 0.883 | |
| AdaThinkDrive (SFT)Base Model=InternVL3-8B, Image=true, Lidar=false, Supervised Fine-Tuning (SFT)=true2026.02 | 0.985 | 0.944 | 0.799 | 94.9 | 1 | 0.862 | |
| Hydra-MDP-V8192Base Model=E2E, Image=true, Lidar=true2026.02 | 0.983 | 0.96 | 0.787 | 94.6 | 1 | 0.865 | |
| ReCogDrive (SFT)Base Model=InternVL3-8B, Image=true, Lidar=false, Supervised Fine-Tuning (SFT)=true2026.02 | 0.983 | 0.951 | 0.811 | 94.3 | 1 | 0.868 | |
| DiffusionDriveBase Model=E2E, Image=true, Lidar=true2026.02 | 0.982 | 0.962 | 0.822 | 94.7 | 1 | 0.881 | |
| DRAMABase Model=E2E, Image=true, Lidar=true2026.02 | 0.9819 | 0.9518 | 0.8133 | 94.17 | 1 | 0.8687 | |
| PARA-DriveBase Model=E2E, Image=true, Lidar=false2026.02 | 0.979 | 0.924 | 0.793 | 93 | 0.998 | 0.84 | |
| ImagiDriveBase Model=LLaVA-1.6-7B, Image=true, Lidar=false2026.02 | 0.979 | 0.955 | 0.807 | 93.1 | 0.999 | 0.864 | |
| VGGT-DistBase Model=Qwen2.5-VL-7B, Image=true, Lidar=false2026.02 | 0.9784 | 0.9481 | 0.813 | 94.42 | 0.9998 | 0.8668 | |
| BaselineBase Model=Qwen2.5-VL-7B, Image=true, Lidar=false2026.02 | 0.9783 | 0.9408 | 0.81 | 94.04 | 0.9998 | 0.8604 | |
| VGGT-AddBase Model=Qwen2.5-VL-7B, Image=true, Lidar=false2026.02 | 0.9781 | 0.9407 | 0.8084 | 94.4 | 0.9998 | 0.861 | |
| TransFuserBase Model=E2E, Image=true, Lidar=true2026.02 | 0.9778 | 0.9263 | 0.7888 | 92.89 | 0.9998 | 0.8388 | |
| AutoVLA (SFT)Base Model=Qwen2.5-VL-3B, Image=true, Lidar=false, Supervised Fine-Tuning (SFT)=true2026.02 | 0.9689 | 0.9443 | 0.7582 | 88.06 | 0.9994 | 0.8054 |