Long-horizon Closed-loop Generation on nuScenes
96CS ScoreCCDiff
Evaluation results
| Method | Links | ||
|---|---|---|---|
| CCDiffRollout Horizon (T)=4s2026.06 | 96 | 47 | |
| CTGRollout Horizon (T)=4s2026.06 | 83 | 31 | |
| CCDiffRollout Horizon (T)=5s2026.06 | 83 | 53 | |
| RiskFlowRollout Horizon (T)=5s2026.06 | 83 | 54 | |
| RiskFlowRollout Horizon (T)=4s2026.06 | 74 | 49 | |
| STRIVERollout Horizon (T)=1s2026.06 | 70 | 48 | |
| CTGRollout Horizon (T)=3s2026.06 | 70 | 40 | |
| CTGRollout Horizon (T)=5s2026.06 | 70 | 49 | |
| CTG++Rollout Horizon (T)=5s2026.06 | 70 | 64 | |
| CCDiffRollout Horizon (T)=3s2026.06 | 70 | 52 | |
| CTG++Rollout Horizon (T)=3s2026.06 | 65 | 57 | |
| RiskFlowRollout Horizon (T)=1s2026.06 | 57 | 74 | |
| RiskFlowRollout Horizon (T)=2s2026.06 | 57 | 71 | |
| RiskFlowRollout Horizon (T)=3s2026.06 | 57 | 57 | |
| BITSRollout Horizon (T)=3s2026.06 | 48 | 50 | |
| CTGRollout Horizon (T)=2s2026.06 | 48 | 60 | |
| CTG++Rollout Horizon (T)=4s2026.06 | 48 | 52 | |
| CCDiffRollout Horizon (T)=2s2026.06 | 48 | 66 | |
| CTG++Rollout Horizon (T)=1s2026.06 | 43 | 71 | |
| CTG++Rollout Horizon (T)=2s2026.06 | 43 | 71 | |
| STRIVERollout Horizon (T)=2s2026.06 | 35 | 49 | |
| STRIVERollout Horizon (T)=3s2026.06 | 35 | 34 | |
| BITSRollout Horizon (T)=5s2026.06 | 35 | 48 | |
| CTGRollout Horizon (T)=1s2026.06 | 35 | 63 | |
| CCDiffRollout Horizon (T)=1s2026.06 | 30 | 63 | |
| STRIVERollout Horizon (T)=4s2026.06 | 26 | 25 | |
| BITSRollout Horizon (T)=4s2026.06 | 26 | 48 | |
| STRIVERollout Horizon (T)=5s2026.06 | 22 | 32 | |
| BITSRollout Horizon (T)=1s2026.06 | 17 | 61 | |
| BITSRollout Horizon (T)=2s2026.06 | 4 | 59 |