Motion Planning on CARLA Town05 Long Benchmark (test)
55.9Driving ScoreInterFuser + PlanKD
Evaluation Results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| InterFuser + PlanKDBackbone=InterFuser, Param Count=26.3M, Inference Time (ms)=39.7, With PlanKD=true2024.03 | 55.9 | 97.44 | 0.562 | 9.4 | 9.3 | |
| InterFuser (Teacher)Backbone=InterFuser, Param Count=52.9M, Inference Time (ms)=78.32024.03 | 53.44 | 97.52 | 0.549 | 9 | 7.8 | |
| TCP (Teacher)Backbone=TCP, Param Count=25.8M, Inference Time (ms)=17.92024.03 | 53.41 | 100 | 0.534 | 7.6 | 11.5 | |
| TCP + PlanKDBackbone=TCP, Param Count=13.9M, Inference Time (ms)=10.7, With PlanKD=true2024.03 | 53.19 | 93.28 | 0.579 | 8.4 | 11.6 | |
| TCPBackbone=TCP, Param Count=13.9M, Inference Time (ms)=10.7, With PlanKD=false2024.03 | 39.96 | 91.06 | 0.443 | 18.3 | 15.7 | |
| InterFuserBackbone=InterFuser, Param Count=26.3M, Inference Time (ms)=39.7, With PlanKD=false2024.03 | 36.55 | 94 | 0.425 | 12.1 | 6.8 | |
| TCP + PlanKDBackbone=TCP, Param Count=7.6M, Inference Time (ms)=8.5, With PlanKD=true2024.03 | 35.44 | 63.95 | 0.673 | 9.6 | 8.7 | |
| InterFuser + PlanKDBackbone=InterFuser, Param Count=11.7M, Inference Time (ms)=22.8, With PlanKD=true2024.03 | 28.79 | 80.5 | 0.43 | 31.5 | 20.2 | |
| InterFuser + PlanKDBackbone=InterFuser, Param Count=3.8M, Inference Time (ms)=17.2, With PlanKD=true2024.03 | 26.15 | 70.95 | 0.41 | 36.1 | 26.5 | |
| TCPBackbone=TCP, Param Count=7.6M, Inference Time (ms)=8.5, With PlanKD=false2024.03 | 25.88 | 52.69 | 0.69 | 11 | 10.1 | |
| TCP + PlanKDBackbone=TCP, Param Count=3.1M, Inference Time (ms)=7.2, With PlanKD=true2024.03 | 23.84 | 32.03 | 0.858 | 5.2 | 7.4 | |
| InterFuserBackbone=InterFuser, Param Count=11.7M, Inference Time (ms)=22.8, With PlanKD=false2024.03 | 17.12 | 66.19 | 0.358 | 36.2 | 28.3 | |
| TCPBackbone=TCP, Param Count=3.1M, Inference Time (ms)=7.2, With PlanKD=false2024.03 | 16.16 | 31.33 | 0.781 | 9.8 | 16.1 | |
| InterFuserBackbone=InterFuser, Param Count=3.8M, Inference Time (ms)=17.2, With PlanKD=false2024.03 | 11.96 | 64.56 | 0.335 | 111.7 | 72.2 |