End-to-end Autonomous Driving on NAVSIM navhard-two-stage v2 (test)
99.6Stage 1 Navigation CompletionSimScale
Evaluation results
| Method | Links | |||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| SimScaleBackbone=V2-99, Training Data Configuration=+185k SimScale data2026.01 | 99.6 | 99.16 | 99.9 | 100 | 69.6 | 99.6 | 95.8 | 95.6 | 28.4 | 94.5 | 94.2 | 95.8 | 99.2 | 75.8 | 92.8 | 60.1 | 96.1 | 43.2 | 53.2 | |
| DrivoRBackbone=ViT-S, Training Data Configuration=+134k SimScale data2026.01 | 99.1 | 98.2 | 99.3 | 99.8 | 75.4 | 98.7 | 94.9 | 97.6 | 70.2 | 92.3 | 91.6 | 97.3 | 99.1 | 75.7 | 90.6 | 56.1 | 98.4 | 44.7 | 54.6 | |
| GTRS-DBackbone=V2-992026.01 | 98.9 | 96.2 | 99.4 | 99.3 | 72.9 | 98.9 | 95.1 | 96.9 | 39.1 | 91.2 | 89.4 | 94.4 | 98.8 | 69.5 | 90 | 54.3 | 94 | 48.7 | 45 | |
| GTRS-ABackbone=V2-992026.01 | 98.9 | 95.1 | 99.1 | 99.6 | 76.2 | 99.1 | 94.9 | 97.6 | 54.2 | 88.1 | 88.8 | 89.3 | 98.9 | 98.9 | 85.9 | 53.7 | 96.8 | 56.9 | 45.4 | |
| ZTRSBackbone=V2-992026.01 | 98.9 | 97.6 | 100 | 100 | 66.7 | 98.9 | 96.2 | 96.7 | 44 | 91.1 | 90.4 | 95.8 | 99 | 63.6 | 89.8 | 60.4 | 97.6 | 66.1 | 48.1 | |
| DrivoRBackbone=ViT-S, Training Data Configuration=+65k SimScale data2026.01 | 98.9 | 97.3 | 99.2 | 99.6 | 77.7 | 99.1 | 95.3 | 97.6 | 68.4 | 92.3 | 92.2 | 97 | 99 | 72.1 | 90.3 | 56.3 | 97.1 | 38.8 | 52.3 | |
| DrivoRBackbone=ViT-S2026.01 | 98.8 | 95.1 | 98.9 | 100 | 72.6 | 98.7 | 94 | 97.6 | 73.3 | 90.2 | 88.4 | 91.9 | 98.6 | 70 | 88 | 50.1 | 98.5 | 76.2 | 48.3 | |
| GTRS-DrivoRBackbone=ViT-S, Prediction and Scoring Heads=GTRS2026.01 | 98 | 95.8 | 99.7 | 99.3 | 72.9 | 98.2 | 95.6 | 96.9 | 51.6 | 91.6 | 86.7 | 90.2 | 98.8 | 73.2 | 88.9 | 51.9 | 94.9 | 46.4 | 45.8 | |
| RAP-DINOBackbone=ViT-H2026.01 | 97.1 | 94.4 | 98.8 | 99.8 | 83.9 | 96.9 | 94.7 | 96.4 | 66.2 | 83.2 | 83.9 | 87.4 | 98 | 86.9 | 80.4 | 52.3 | 95.2 | 52.4 | 39.6 |