End-to-end planning on NAVSIM v1
100NCHuman
Evaluation results
| Method | Links | |||||||
|---|---|---|---|---|---|---|---|---|
| HumanImage=false, Lidar=false2026.03 | 100 | 100 | 87.5 | — | 100 | 94.8 | 99.9 | |
| Human2026.05 | 100 | 100 | 87.5 | 99.9 | 100 | 94.8 | — | |
| iPadType=Perception-based, Inputs=Camera2026.05 | 99.2 | 97.4 | 87.8 | 99.7 | 96.3 | 91.7 | — | |
| AutoDrive-P3 (Detailed)Image=true, Lidar=false2026.03 | 99.1 | 97.4 | 84.8 | — | 96.5 | 90.6 | 100 | |
| AutoDrive-P3 (Fast)Image=true, Lidar=false2026.03 | 98.9 | 97.7 | 83.7 | — | 96.6 | 90.2 | 99.9 | |
| Drive-JEPAType=Perception-free, Inputs=Camera2026.05 | 98.7 | 96.2 | 82.9 | 100 | 95.5 | 89 | — | |
| DAWNType=Perception-free, Inputs=Camera, Resolution=512x2562026.05 | 98.7 | 95.9 | 84.3 | 100 | 96 | 89.1 | — | |
| DriveVLA-W0Sensors=SV2026.05 | 98.7 | 96.2 | 82.2 | 100 | 95.5 | 88.4 | — | |
| DriveVLA-W0Sensors=SV, trained with multiple trajectory anchors=true2026.05 | 98.7 | 99.1 | 83.3 | 99.3 | 95.3 | 90.2 | — | |
| DriveSuprimType=Perception-based, Inputs=Camera2026.05 | 98.6 | 98.6 | 91.3 | 100 | 95.5 | 93.5 | — | |
| WoTEImage=true, Lidar=true2026.03 | 98.5 | 96.8 | 81.9 | — | 94.9 | 88.3 | 99.9 | |
| DriveDPOType=Perception-based, Inputs=C & L2026.05 | 98.5 | 98.1 | 84.3 | 100 | 94.8 | 90 | — | |
| WoTESensors=MV & L2026.05 | 98.5 | 96.8 | 81.9 | 99.9 | 94.4 | 88.3 | — | |
| Hydra-MDPType=Perception-based, Inputs=C & L2026.05 | 98.4 | 97.7 | 85 | 100 | 94.5 | 89.9 | — | |
| GoalFlowType=Perception-based, Inputs=C & L2026.05 | 98.4 | 98.3 | 85 | 100 | 94.6 | 90.3 | — | |
| AutoVLASensors=MV2026.05 | 98.4 | 95.6 | 81.9 | 99.9 | 98 | 89.1 | — | |
| DriveDreamer-PolicySensors=MV2026.05 | 98.4 | 97.1 | 83.5 | 100 | 95.1 | 89.2 | — | |
| WorldDriveSensors=SV2026.05 | 98.4 | 95.8 | 83.3 | 99.8 | 95.2 | 89 | — | |
| Hydra-MDPImage=true, Lidar=true2026.03 | 98.3 | 96 | 78.7 | — | 94.6 | 86.5 | 100 | |
| DriveWAMSensors=SV2026.05 | 98.3 | 98.1 | 84.3 | 100 | 95.2 | 90.1 | — | |
| DiffusionDriveImage=true, Lidar=true2026.03 | 98.2 | 96.2 | 82.2 | — | 94.7 | 88.1 | 100 | |
| DiffusionDriveType=Perception-based, Inputs=C & L2026.05 | 98.2 | 96.2 | 82.2 | 100 | 94.7 | 88.1 | — | |
| DAWN*Type=Perception-free, Inputs=Camera, Resolution=256x2562026.05 | 98.2 | 95.8 | 84.2 | 100 | 95.8 | 87.9 | — | |
| DiffusionDriveSensors=MV & L2026.05 | 98.2 | 96.2 | 82.2 | 100 | 94.7 | 88.1 | — | |
| ReCogDriveSensors=MV, imitation learning=true2026.05 | 98.1 | 94.7 | 80.9 | 100 | 94.2 | 86.5 | — | |
| DRAMAImage=true, Lidar=true2026.03 | 98 | 93.1 | 80.1 | — | 94.8 | 85.5 | 100 | |
| VADv2Image=true, Lidar=false2026.03 | 97.9 | 91.7 | 77.6 | — | 92.9 | 83 | 100 | |
| PARA-DriveImage=true, Lidar=false2026.03 | 97.9 | 92.4 | 79.3 | — | 93 | 84 | 99.8 | |
| EponaType=Perception-free, Inputs=Camera2026.05 | 97.9 | 95.1 | 80.4 | 99.9 | 93.8 | 86.2 | — | |
| PARA-DriveSensors=MV2026.05 | 97.9 | 92.4 | 79.3 | 99.8 | 93 | 84 | — | |
| EponaSensors=SV2026.05 | 97.9 | 95.1 | 80.4 | 99.9 | 93.8 | 86.2 | — | |
| UniADImage=true, Lidar=false2026.03 | 97.8 | 91.9 | 78.8 | — | 92.9 | 83.4 | 100 | |
| UniADSensors=MV2026.05 | 97.8 | 91.9 | 78.8 | 100 | 92.9 | 83.4 | — | |
| TransFuserImage=true, Lidar=true2026.03 | 97.7 | 92.8 | 79.2 | — | 92.8 | 84 | 100 | |
| TransfuserType=Perception-based, Inputs=C & L2026.05 | 97.7 | 92.8 | 79.2 | 100 | 92.8 | 84 | — | |
| TransFuserSensors=MV & L2026.05 | 97.7 | 92.8 | 79.2 | 100 | 92.8 | 84 | — | |
| Hydra-MDP++Type=Perception-based, Inputs=C & L2026.05 | 97.6 | 96 | 80.4 | 100 | 93.1 | 86.6 | — | |
| LTFImage=true, Lidar=false2026.03 | 97.4 | 92.8 | 79 | — | 92.4 | 83.8 | 100 | |
| LAWType=Perception-free, Inputs=C & L2026.05 | 97.4 | 93.3 | 78.8 | 100 | 91.9 | 83.8 | — | |
| World4DriveType=Perception-free, Inputs=C & L2026.05 | 97.4 | 94.3 | 79.9 | 100 | 92.8 | 85.1 | — | |
| LAWImage=true, Lidar=true2026.03 | 96.4 | 95.4 | 81.7 | — | 88.7 | 84.6 | 99.9 | |
| LAWSensors=SV2026.05 | 96.4 | 95.4 | 81.7 | 99.9 | 88.7 | 84.6 | — | |
| Ego Status MLPImage=false, Lidar=false2026.03 | 93 | 77.3 | 62.8 | — | 83.6 | 65.6 | 100 | |
| Constant VelocityImage=false, Lidar=false2026.03 | 69.9 | 58.8 | 49.3 | — | 49.3 | 21.6 | 100 | |
| iPadBackbone=ViT/L, Inputs=Camera, Perception-free=false2026.01 | 0.992 | 0.974 | 0.878 | 0.997 | 0.963 | 0.917 | — | |
| Drive-JEPABackbone=ViT/L, Inputs=Camera, Perception-free=false2026.01 | 0.991 | 0.982 | 0.908 | 0.999 | 0.959 | 0.933 | — | |
| Drive-JEPABackbone=ViT/L, Inputs=Camera, Perception-free=true2026.01 | 0.987 | 0.962 | 0.829 | 1 | 0.955 | 0.89 | — | |
| DriveSuprimBackbone=ViT/L, Inputs=Camera, Perception-free=false2026.01 | 0.986 | 0.986 | 0.913 | 1 | 0.955 | 0.935 | — | |
| DriveDPOBackbone=ResNet34, Inputs=C & L, Perception-free=false2026.01 | 0.985 | 0.981 | 0.843 | 1 | 0.948 | 0.9 | — | |
| GoalFLowBackbone=ResNet34, Inputs=C & L, Perception-free=false2026.01 | 0.984 | 0.983 | 0.85 | 1 | 0.946 | 0.903 | — | |
| iPadBackbone=ResNet34, Inputs=Camera, Perception-free=false2026.01 | 0.984 | 0.979 | 0.874 | 0.999 | 0.949 | 0.911 | — | |
| Hydra-MDPBackbone=ViT/L, Inputs=C & L, Perception-free=false2026.01 | 0.984 | 0.977 | 0.85 | 1 | 0.945 | 0.899 | — | |
| HydraMDPBackbone=ResNet34, Inputs=C & L, Perception-free=false2026.01 | 0.983 | 0.96 | 0.787 | 1 | 0.946 | 0.865 | — | |
| DiffusionDriveBackbone=ResNet34, Inputs=C & L, Perception-free=false2026.01 | 0.982 | 0.962 | 0.822 | 1 | 0.947 | 0.881 | — | |
| Drive-JEPABackbone=ResNet34, Inputs=Camera, Perception-free=false2026.01 | 0.982 | 0.98 | 0.888 | 0.999 | 0.942 | 0.915 | — | |
| EponaBackbone=ViT/G, Inputs=Camera, Perception-free=true2026.01 | 0.979 | 0.951 | 0.804 | 0.999 | 0.938 | 0.862 | — | |
| DriveSuprimBackbone=ResNet34, Inputs=Camera, Perception-free=false2026.01 | 0.978 | 0.973 | 0.867 | 1 | 0.936 | 0.899 | — | |
| TransfuserBackbone=ResNet34, Inputs=C & L, Perception-free=false2026.01 | 0.977 | 0.928 | 0.792 | 1 | 0.928 | 0.84 | — | |
| HydraMDP++Backbone=ResNet34, Inputs=C & L, Perception-free=false2026.01 | 0.976 | 0.96 | 0.804 | 1 | 0.931 | 0.866 | — | |
| LAWBackbone=resnet34, Inputs=C & L, Perception-free=true2026.01 | 0.974 | 0.933 | 0.788 | 1 | 0.919 | 0.838 | — | |
| World4DriveBackbone=resnet34, Inputs=C & L, Perception-free=true2026.01 | 0.974 | 0.943 | 0.799 | 1 | 0.928 | 0.851 | — |