End-to-end planning on NAVSIM v2 (test)
98.5NCWAM-Flow
Evaluation Results
| Method | Links | |||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
| WAM-Flow2026.06 | 98.5 | 94.5 | 99.5 | 99.8 | 86.9 | 96.8 | 97.4 | 97.6 | 73.9 | 84.7 | — | |
| DriveVLA-W02026.06 | 98.5 | 99.1 | 98 | 99.7 | 86.4 | 98.1 | 93.2 | 97.9 | 58.9 | 86.1 | — | |
| Discrete-WAM2026.06 | 98.5 | 98.2 | 99.7 | 99.8 | 90.5 | 97.9 | 97.2 | 98.3 | 78.1 | 87 | 90.4 | |
| Hydra-MDP++Img. Backbone=V2-992026.03 | 98.4 | 98 | 99.4 | 99.8 | 87.5 | 97.7 | 95.3 | 98.3 | 77.4 | 85.1 | — | |
| Hydra-MDP++2026.06 | 98.4 | 98 | 99.4 | 99.8 | 87.5 | 97.7 | 95.3 | 98.3 | 77.4 | 85.1 | — | |
| ARTEMISImg. Backbone=ResNet-342026.03 | 98.3 | 95.1 | 98.6 | 99.8 | 81.5 | 97.4 | 96.5 | 98.3 | 98.3 | 83.1 | — | |
| ReCogDrive2026.06 | 98.3 | 95.2 | 99.5 | 99.8 | 87.1 | 97.5 | 96.6 | 98.3 | 86.5 | 83.6 | — | |
| SparseDriveV2Img. Backbone=ResNet-342026.03 | 98.1 | 98.1 | 99.6 | 99.8 | 91.1 | 97.3 | 96.9 | 98.2 | 78.4 | 86.7 | 90.1 | |
| SparseDriveV22026.06 | 98.1 | 98.1 | 99.6 | 99.8 | 91.1 | 97.3 | 96.9 | 98.2 | 78.4 | 86.7 | 90.1 | |
| DreamerAD2026.06 | 98 | 97.2 | 99.5 | 99.8 | 87.8 | 97.4 | 97.5 | 98.3 | 72.4 | — | 87.7 | |
| DriveSuprimImg. Backbone=V2-992026.03 | 97.8 | 97.9 | 99.5 | 99.9 | 90.6 | 97.1 | 96.6 | 98.3 | 77.9 | 86 | — | |
| DriveSuprim2026.06 | 97.8 | 97.9 | 99.5 | 99.9 | 90.6 | 97.1 | 96.6 | 98.3 | 77.9 | 86 | — | |
| DiffusionDriveV2Img. Backbone=ResNet-342026.03 | 97.7 | 96.6 | 99.2 | 99.8 | 88.9 | 97.2 | 96 | 97.8 | 91 | 85.5 | 87.5 | |
| DiffusionDriveV22026.06 | 97.7 | 96.6 | 99.2 | 99.8 | 88.9 | 97.2 | 96 | 97.8 | 91 | 85.5 | 87.5 | |
| DriveSuprimImg. Backbone=ResNet-342026.03 | 97.5 | 96.5 | 99.4 | 99.6 | 88.4 | 96.6 | 95.5 | 98.3 | 77 | 83.1 | — | |
| Hydra-MDP++Img. Backbone=ResNet-342026.03 | 97.2 | 97.5 | 99.4 | 99.6 | 83.1 | 96.5 | 94.4 | 98.2 | 70.9 | 81.4 | — | |
| Epona2026.06 | 97.1 | 95.7 | 99.3 | 99.7 | 88.6 | 96.3 | 97 | 98 | 67.8 | — | 85.1 | |
| TransfuserImg. Backbone=ResNet-342026.03 | 96.9 | 89.9 | 97.8 | 99.7 | 87.1 | 95.4 | 92.7 | 98.3 | 87.2 | 76.7 | — | |
| Transfuser2026.06 | 96.9 | 89.9 | 97.8 | 99.7 | 87.1 | 95.4 | 92.7 | 98.3 | 87.2 | 76.7 | — | |
| Ego Status MLPImg. Backbone=ResNet-342026.03 | 93.1 | 77.9 | 92.7 | 99.6 | 86 | 91.5 | 89.4 | 98.3 | 85.4 | 64 | — |