Motion Planning on nuPlan (val14)
93.53NR Success RateLog-replay
Evaluation results
| Method | Links | |||
|---|---|---|---|---|
| Log-replayType=Expert2026.03 | 93.53 | — | 80.32 | |
| PLUTOType=Rule-based & Hybrid2026.03 | 92.88 | — | 86.88 | |
| PDM-ClosedType=Rule-based & Hybrid2026.03 | 92.84 | — | 92.12 | |
| PDM-HybridType=Rule-based & Hybrid2026.03 | 92.77 | — | 92.11 | |
| TDDMType=Learning-based2026.03 | 89.81 | — | 79.78 | |
| Diffusion PlannerType=Learning-based2026.03 | 89.76 | — | 82.56 | |
| PLUTO w/o refine.Type=Learning-based2026.03 | 88.89 | — | 78.11 | |
| PlanTFType=Learning-based2026.03 | 84.27 | — | 76.95 | |
| GameFormerType=Rule-based & Hybrid2026.03 | 79.94 | — | 79.78 | |
| IDMType=Rule-based & Hybrid2026.03 | 75.6 | — | 77.33 | |
| UrbanDriverType=Learning-based2026.03 | 68.57 | — | 64.11 | |
| PDM-OpenType=Learning-based2026.03 | 53.53 | — | 54.24 | |
| BIBeRIntegration=Co-Leader, Evaluation Setting=SMART Reactive2025.12 | — | 87.36 | — | |
| DiffusionPlannerIntegration=Joint, Evaluation Setting=SMART Reactive2025.12 | — | 77.8 | — | |
| DTPPIntegration=Co-Leader, Evaluation Setting=SMART Reactive2025.12 | — | 62.41 | — | |
| GameFormerIntegration=Joint, Evaluation Setting=SMART Reactive2025.12 | — | 78.05 | — | |
| GC-PGPIntegration=None, Evaluation Setting=SMART Reactive2025.12 | — | 50.82 | — | |
| PDM-ClosedIntegration=Human Leader, Evaluation Setting=SMART Reactive2025.12 | — | 89.14 | — | |
| PDM-HybridIntegration=Human Leader, Evaluation Setting=SMART Reactive2025.12 | — | 89.44 | — | |
| PDM-OpenIntegration=None, Evaluation Setting=SMART Reactive2025.12 | — | 53.49 | — | |
| PlanCNNIntegration=None, Evaluation Setting=SMART Reactive2025.12 | — | 64.7 | — | |
| PlanTFIntegration=None, Evaluation Setting=SMART Reactive2025.12 | — | 71.78 | — | |
| Urban DriverIntegration=None, Evaluation Setting=SMART Reactive2025.12 | — | 43.45 | — |