End-to-End Autonomous Driving on NAVSIM v2 (navhard-two-stage)
99.1NCDrivoR
Evaluation Results
| Method | Links | ||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|
| DrivoRStage=S 12026.06 | 99.1 | 98.2 | 99.3 | 100 | 69.7 | 98.9 | 93.6 | 97.6 | 63.6 | 48.9 | |
| DrivoR + PriorEyeStage=S 12026.06 | 98.7 | 99.6 | 99.6 | 99.8 | 74.5 | 98.4 | 95.6 | 97.6 | 73.8 | 49.6 | |
| GTRS-DenseStage=S 12026.06 | 98.4 | 95.8 | 99.4 | 99.3 | 72.8 | 98.9 | 94.9 | 96.7 | 40.4 | 44.9 | |
| GTRS-Dense + PriorEyeStage=S 12026.06 | 97.6 | 97.1 | 100 | 99.8 | 76.1 | 97.8 | 97.3 | 97.8 | 52.4 | 48.6 | |
| LTF + PriorEyeStage=S 12026.06 | 95.6 | 86.4 | 99.4 | 99.3 | 83.6 | 95.1 | 96.4 | 97.6 | 77.3 | 32.4 | |
| GTRS-DP + PriorEyeStage=S 12026.06 | 95.3 | 82 | 96.4 | 99.8 | 81.5 | 95.1 | 93.1 | 97.1 | 68 | 30.1 | |
| LTFStage=S 12026.06 | 95.1 | 80.7 | 98.8 | 99.6 | 84.3 | 94.2 | 92.7 | 97.6 | 79.6 | 24.7 | |
| GTRS-DPStage=S 12026.06 | 95 | 80.7 | 97 | 99.9 | 83.1 | 94.1 | 93.1 | 97.6 | 69.9 | 26.3 | |
| DrivoRStage=S 22026.06 | 91.8 | 89.4 | 94.1 | 99.3 | 59 | 89.9 | 51.3 | 98.7 | 76.5 | 48.9 | |
| GTRS-DenseStage=S 22026.06 | 91.2 | 89.2 | 94.6 | 98.8 | 68.8 | 90.1 | 55 | 93.6 | 49.6 | 44.9 | |
| GTRS-Dense + PriorEyeStage=S 22026.06 | 89.5 | 90 | 95 | 99 | 77.1 | 87.1 | 55.8 | 95.3 | 51.3 | 48.6 | |
| DrivoR + PriorEyeStage=S 22026.06 | 87.2 | 89.9 | 93.3 | 99.1 | 70.5 | 85.8 | 52.3 | 98.8 | 74.5 | 49.6 | |
| GTRS-DP + PriorEyeStage=S 22026.06 | 83.9 | 75.3 | 85.7 | 98.5 | 82.3 | 80.8 | 49.6 | 96.3 | 66.9 | 30.1 | |
| GTRS-DPStage=S 22026.06 | 81.3 | 72.6 | 83.3 | 98.5 | 83.2 | 78.7 | 45.7 | 96.3 | 62.2 | 26.3 | |
| LTFStage=S 22026.06 | 79.4 | 68.3 | 83.4 | 98.1 | 86.6 | 77 | 43.4 | 95.9 | 73.2 | 24.7 | |
| LTF + PriorEyeStage=S 22026.06 | 78.8 | 76.6 | 86 | 98.3 | 85.2 | 75.5 | 50.7 | 96.2 | 72.1 | 32.4 |