Initial Scene Generation on nuPlan
0Positional ErrorOracle
Evaluation results
| Method | Links | |||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Oracle2025.12 | 0 | 0 | — | 0 | 38 | 13.62 | 0 | 0 | 97.4 | 81.22 | 71.67 | — | — | |
| UMGen2025.03 | 0.0828 | 0.0682 | 0.0674 | 0.076 | — | — | — | — | — | — | — | — | — | |
| TrafficGenexperimental_setting=reproduced2025.03 | 0.0926 | 0.0799 | 0.0856 | 0.0988 | — | — | — | — | — | — | — | — | — | |
| Nexus-Ω2025.12 | 0.203 | 0.081 | — | 0.333 | 19 | 17.36 | 91 | 1,039 | 99.19 | 91.91 | 72.27 | — | — | |
| ScenDream-Lvariant=L2026.03 | 0.67 | — | — | — | — | — | — | — | — | — | — | 36.87 | 9.3 | |
| D. Policy2025.12 | 0.701 | 0.423 | — | 0.369 | 119 | 36.58 | 437 | 3,947 | 98.46 | 87.18 | 34.49 | — | — | |
| SceneD.2025.12 | 0.933 | 0.395 | — | 0.234 | 119 | 37.8 | 484 | 4,168 | 98.48 | 86.96 | 33.27 | — | — | |
| VectorWorld2026.03 | 0.98 | — | — | — | — | — | — | — | — | — | — | 37.22 | 3.01 | |
| ScenDream-Bvariant=B2026.03 | 1.05 | — | — | — | — | — | — | — | — | — | — | 37.04 | 11.9 | |
| Nexus2025.12 | 1.162 | 0.461 | — | 1.018 | 141 | 43.12 | 470 | 4,013 | 98.72 | 88.63 | 32.35 | — | — | |
| SLEDGE-XLvariant=XL2026.03 | 1.44 | — | — | — | — | — | — | — | — | — | — | 35.83 | 21.2 | |
| SLEDGE-Lvariant=L2026.03 | 1.89 | — | — | — | — | — | — | — | — | — | — | 35.34 | 22.3 |