End-to-End Driving Planning on CODA
1.34Average L2 Distance (m)Lagrange
Evaluation Results
| Method | Links | ||
|---|---|---|---|
| LagrangeParadigm=Sparse, MLF Field2026.06 | 1.34 | 8.7 | |
| SparseDriveParadigm=Sparse, Whitelist2026.06 | 1.62 | 31.2 | |
| UniADParadigm=Dense, BEV2026.06 | 1.85 | 28.4 | |
| OpenVLA-CarParadigm=VLA, Direct Act2026.06 | 2.1 | 19.5 |