End-to-end Planning on NAVSIM (all-logs)
0.93PDM ScoreClean
Evaluation Results
| Method | Links | |||||||
|---|---|---|---|---|---|---|---|---|
| CleanAttacked Model=GTRS-AUG [27]2026.06 | 0.93 | 0 | 0 | 2.59 | 0.36 | 0.11 | 2.66 | |
| Random PatchAttacked Model=GTRS-AUG [27]2026.06 | 0.93 | 0.39 | 47.76 | 2.6 | 1 | 0.1 | 2.56 | |
| CleanAttacked Model=DiffusionDrive [13]2026.06 | 0.91 | 0 | 0 | 1.3 | 1.86 | 1.96 | 4.89 | |
| CleanAttacked Model=GTRS-Dense [27]2026.06 | 0.91 | 0 | 0 | 0.69 | 1.22 | 0.33 | 0.83 | |
| Random PatchAttacked Model=GTRS-Dense [27]2026.06 | 0.91 | 0.05 | 41.79 | 0.73 | 1.2 | 0.33 | 1.01 | |
| Random PatchAttacked Model=DiffusionDrive [13]2026.06 | 0.9 | 0.5 | 44.78 | 2.15 | 0.94 | 0.63 | 7.07 | |
| Derail PatchAttacked Model=GTRS-Dense [27]2026.06 | 0.88 | 3.29 | 52.24 | 2.9 | 1.5 | 0.35 | 2.64 | |
| Derail PatchAttacked Model=GTRS-AUG [27]2026.06 | 0.86 | 7.37 | 50.75 | 9.12 | 1.47 | 0.28 | 8.5 | |
| Random PatchAttacked Model=GTRS-DP [27]2026.06 | 0.81 | -0.09 | 55.22 | 9.24 | 1.13 | 0.65 | 9.26 | |
| CleanAttacked Model=GTRS-DP [27]2026.06 | 0.8 | 0 | 0 | 9.34 | 1.15 | 0.62 | 9.49 | |
| Derail PatchAttacked Model=DiffusionDrive [13]2026.06 | 0.79 | 13.38 | 68.66 | 13.56 | 1.17 | 1.15 | 22.8 | |
| Derail PatchAttacked Model=GTRS-DP [27]2026.06 | 0.78 | 2.91 | 61.19 | 10.68 | 2.11 | 0.64 | 10.86 |