Goal-conditioned controllable scene generation on nuPlan
0.244Distributional JSD (L-Dev.)Nexus-Ω
Evaluation results
| Method | Links | |||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Nexus-Ωguidance=OMEGA2025.12 | 0.244 | 0.222 | 0.012 | 5.151 | 10 | 12 | 0.44 | 7 | 99.37 | 91 | 80 | |
| Nexus-ΩGoal-conditioned=true2025.12 | 0.244 | — | — | 5.151 | — | 12 | — | 7 | — | 91 | 80 | |
| D. Policy2025.12 | 0.706 | 0.382 | 0.047 | 73.245 | 81 | 40 | 3.71 | 46 | 96.32 | 58 | 20 | |
| D. PolicyGoal-conditioned=true2025.12 | 0.706 | — | — | 73.245 | — | 40 | — | 46 | — | 58 | 20 | |
| SceneD.2025.12 | 1.405 | 0.526 | 0.033 | 75.818 | 88 | 46 | 4.21 | 40 | 96.63 | 59 | 17 | |
| SceneD.Goal-conditioned=true2025.12 | 1.405 | — | — | 75.818 | — | 46 | — | 40 | — | 59 | 17 | |
| Nexus2025.12 | 1.618 | 0.594 | 0.037 | 76.187 | 120 | 51 | 5.22 | 51 | 96.44 | 55 | 11 | |
| NexusGoal-conditioned=true2025.12 | 1.618 | — | — | 76.187 | — | 51 | — | 51 | — | 55 | 11 |