End-to-end motion planning on nuScenes
0.2L2 Displacement Error (1s)NaviDriveVLM
Evaluation results
| Method | Links | ||||||||
|---|---|---|---|---|---|---|---|---|---|
| NaviDriveVLMVLM=Qwen3-VL-2B2026.03 | 0.2 | 0.5 | 0.93 | 0.46 | — | — | — | — | |
| Driver-VLMVLM=Qwen3-VL-8B2026.03 | 0.24 | 0.65 | 1.25 | 0.6 | — | — | — | — | |
| DriveVAnuScenes Finetune=false, Input=Camera*, Auxiliary Supervision=None2026.04 | 0.33 | 0.76 | 1.43 | 0.84 | 0 | 7 | 0.12 | 6 | |
| DriveVAFinetune=✗, Protocol=Zero-shot2026.04 | 0.33 | 0.76 | 1.43 | 0.84 | 0 | 7 | 0.12 | 6 | |
| GenAD2026.03 | 0.36 | 0.83 | 1.55 | 0.91 | — | — | — | — | |
| Verdi2026.03 | 0.36 | 0.62 | 0.96 | 0.65 | — | — | — | — | |
| GenADnuScenes Finetune=true, Input=Camera, Auxiliary Supervision=Map&Box&Motion2026.04 | 0.36 | 0.83 | 1.55 | 0.91 | 6 | 23 | 1 | 43 | |
| VAD-Base2026.03 | 0.41 | 0.7 | 1.05 | 0.72 | — | — | — | — | |
| DriveVLA-W0Finetune=✗, Protocol=Zero-shot, Venue=ICLR’262026.04 | 0.43 | 1.26 | 2.6 | 1.43 | 22 | 66 | 1.42 | 77 | |
| UniAD2026.03 | 0.44 | 0.67 | 0.96 | 0.69 | — | — | — | — | |
| Ego-MLP2026.03 | 0.46 | 0.76 | 1.12 | 0.78 | — | — | — | — | |
| UniADnuScenes Finetune=true, Input=Camera, Auxiliary Supervision=Map&Box&Motion2026.04 | 0.48 | 0.96 | 1.65 | 1.03 | 5 | 17 | 0.71 | 31 | |
| Doe-1nuScenes Finetune=true, Input=Camera*, Auxiliary Supervision=QA2026.04 | 0.5 | 1.18 | 2.11 | 1.26 | 4 | 37 | 1.19 | 53 | |
| OccWorldnuScenes Finetune=true, Input=Camera, Auxiliary Supervision=3D-Occ2026.04 | 0.52 | 1.27 | 2.41 | 1.4 | 12 | 40 | 2.08 | 87 | |
| VAD-BasenuScenes Finetune=true, Input=Camera, Auxiliary Supervision=Map&Box&Motion2026.04 | 0.54 | 1.15 | 1.98 | 1.22 | 4 | 39 | 1.17 | 53 | |
| VAD-TinynuScenes Finetune=true, Input=Camera, Auxiliary Supervision=Map&Box&Motion2026.04 | 0.6 | 1.23 | 2.06 | 1.3 | 31 | 53 | 1.33 | 72 | |
| EponanuScenes Finetune=true, Input=Camera*, Auxiliary Supervision=None2026.04 | 0.61 | 1.17 | 1.98 | 1.25 | 1 | 22 | 0.85 | 36 | |
| OccNetnuScenes Finetune=true, Input=Camera, Auxiliary Supervision=3D-Occ&Map&Box2026.04 | 1.29 | 2.13 | 2.99 | 2.14 | 21 | 59 | 1.37 | 72 | |
| ST-P32026.03 | 1.33 | 2.11 | 2.9 | 2.11 | — | — | — | — | |
| ST-P3nuScenes Finetune=true, Input=Camera, Auxiliary Supervision=Map&Box&Depth2026.04 | 1.33 | 2.11 | 2.9 | 2.11 | 23 | 62 | 1.27 | 71 | |
| OpenEMMAVLM=LLaVa-7B [26]2026.03 | 1.45 | 3.21 | 3.76 | 2.81 | — | — | — | — | |
| PWMFinetune=✗, Protocol=Zero-shot, Venue=NeurIPS’252026.04 | 2.06 | 3.91 | 6 | 3.99 | 12 | 15 | 0.86 | 36 |