Motion Planning on nuScenes
0.14L2 Error (1s)OmniDrive
Evaluation results
| Method | Links | ||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| OmniDriveMethod Category=Autoregressive Methods, VLM=LLava-7B2026.03 | 0.14 | — | — | — | — | — | — | — | — | 0.29 | 0.55 | 0.33 | 1 | 4 | 0.27 | 11 | |
| OpenDriveVLAMethod Category=Autoregressive Methods, VLM=Qwen2.5-VL-3B2026.03 | 0.14 | — | — | — | — | — | — | — | — | 0.3 | 0.55 | 0.33 | 2 | 7 | 0.22 | 10 | |
| AutoDrive-P³Method Category=Autoregressive Methods, Variant=Detailed, VLM=Qwen2.5-VL-3B2026.03 | 0.15 | — | — | — | — | — | — | — | — | 0.3 | 0.54 | 0.33 | 0 | 2 | 0.15 | 6 | |
| AutoDrive-P³Method Category=Autoregressive Methods, Variant=Fast, VLM=Qwen2.5-VL-3B2026.03 | 0.16 | — | — | — | — | — | — | — | — | 0.31 | 0.56 | 0.34 | 0 | 4 | 0.2 | 8 | |
| VADMethod Category=Non-Autoregressive Methods2026.03 | 0.17 | — | — | — | — | — | — | — | — | 0.34 | 0.6 | 0.37 | 7 | 10 | 0.24 | 14 | |
| RDA-DriverMethod Category=Autoregressive Methods, VLM=LLaVa-7B2026.03 | 0.17 | — | — | — | — | — | — | — | — | 0.37 | 0.69 | 0.4 | 1 | 5 | 0.26 | 10 | |
| DriveVLMMethod Category=Autoregressive Methods, VLM=Qwen2-VL-7B2026.03 | 0.18 | — | — | — | — | — | — | — | — | 0.34 | 0.68 | 0.4 | 10 | 22 | 0.45 | 27 | |
| GPT-DriverMethod Category=Autoregressive Methods, VLM=GPT-3.52026.03 | 0.2 | — | — | — | — | — | — | — | — | 0.4 | 0.7 | 0.44 | 4 | 12 | 0.36 | 17 | |
| InsightDriveMethod Category=Non-Autoregressive Methods2026.03 | 0.23 | — | — | — | — | — | — | — | — | 0.41 | 0.68 | 0.44 | 9 | 10 | 0.27 | 15 | |
| RCT-AD-LBackbone=R101, GPU Type=NVIDIA RTX A6000, Batch Size=12026.07 | 0.23 | — | — | — | — | — | — | — | — | 0.52 | 0.89 | 0.54 | 1 | 3 | 15 | 6 | |
| AutoVLAMethod Category=Autoregressive Methods, VLM=Qwen2.5-VL-3B2026.03 | 0.25 | — | — | — | — | — | — | — | — | 0.46 | 0.73 | 0.48 | 7 | 7 | 0.26 | 13 | |
| BridgeADBackbone=R101, GPU Type=NVIDIA RTX A6000, Batch Size=12026.07 | 0.28 | — | — | — | — | — | — | — | — | 0.55 | 0.92 | 0.58 | 0 | 4 | 20 | 8 | |
| RCT-AD-TBackbone=R50, GPU Type=NVIDIA RTX A6000, Batch Size=12026.07 | 0.29 | — | — | — | — | — | — | — | — | 0.57 | 0.93 | 0.59 | 1 | 4 | 18 | 7 | |
| SparseDriveBackbone=R50, Official Checkpoint Evaluation=true, GPU Type=NVIDIA RTX A6000, Batch Size=12026.07 | 0.3 | — | — | — | — | — | — | — | — | 0.58 | 0.95 | 0.61 | 1 | 5 | 23 | 10 | |
| AutoDrive-R²Method Category=Autoregressive Methods, VLM=Qwen2.5-VL-3B2026.03 | 0.35 | — | — | — | — | — | — | — | — | 0.49 | 0.62 | 0.49 | — | — | — | — | |
| GenADBackbone=R50, GPU Type=NVIDIA RTX A6000, Batch Size=12026.07 | 0.36 | — | — | — | — | — | — | — | — | 0.83 | 1.55 | 0.91 | 6 | 23 | 100 | 43 | |
| VADBackbone=R50, Official Checkpoint Evaluation=true, GPU Type=NVIDIA RTX A6000, Batch Size=12026.07 | 0.41 | — | — | — | — | — | — | — | — | 0.7 | 1.05 | 0.72 | 3 | 19 | 43 | 21 | |
| UniADMethod Category=Non-Autoregressive Methods2026.03 | 0.44 | — | — | — | — | — | — | — | — | 0.67 | 0.96 | 0.69 | 4 | 8 | 0.23 | 12 | |
| UniADBackbone=R101, Official Checkpoint Evaluation=true, GPU Type=NVIDIA Tesla A100, Batch Size=12026.07 | 0.45 | — | — | — | — | — | — | — | — | 0.7 | 1.04 | 0.73 | 5 | 17 | 71 | 31 | |
| Ego-MLPMethod Category=Non-Autoregressive Methods2026.03 | 0.46 | — | — | — | — | — | — | — | — | 0.76 | 1.12 | 0.78 | 21 | 35 | 0.58 | 38 | |
| ST-P3Method Category=Non-Autoregressive Methods2026.03 | 1.33 | — | — | — | — | — | — | — | — | 2.11 | 2.9 | 2.11 | 23 | 62 | 1.27 | 71 | |
| OpenEMMAMethod Category=Autoregressive Methods, VLM=Qwen2-VL-7B2026.03 | 1.45 | — | — | — | — | — | — | — | — | 3.21 | 3.76 | 2.81 | — | — | — | — | |
| AutoVLAParadigm=AR, Backbone=Qwen2.5-3B2025.12 | — | 0.13 | 0.18 | 0.28 | 0.2 | 0.14 | 0.25 | 0.53 | 0.31 | — | — | — | — | — | — | — | |
| DME-DriverParadigm=AR, Backbone=LLaVA-7B2025.12 | — | — | — | — | — | 0.05 | 0.28 | 0.55 | 0.29 | — | — | — | — | — | — | — | |
| DriveVLMParadigm=AR, Backbone=Qwen2-VL-7B2025.12 | — | 0.1 | 0.22 | 0.45 | 0.27 | — | — | — | — | — | — | — | — | — | — | — | |
| Ego-MLP2025.12 | — | 0.21 | 0.35 | 0.58 | 0.38 | — | — | — | — | — | — | — | — | — | — | — | |
| EponaParadigm=AR + Diff., Backbone=DiT-2.5B2025.12 | — | 0.05 | 0.22 | 0.85 | 0.96 | — | — | — | — | — | — | — | — | — | — | — | |
| GPT-DriverParadigm=AR, Backbone=GPT-42025.12 | — | 0.04 | 0.12 | 0.36 | 0.17 | 0.07 | 0.15 | 1.1 | 0.44 | — | — | — | — | — | — | — | |
| InsightDrive2025.12 | — | 0.09 | 0.1 | 0.27 | 0.15 | 0.08 | 0.15 | 0.84 | 0.36 | — | — | — | — | — | — | — | |
| OmniDriveParadigm=AR, Backbone=LLaVA-7B2025.12 | — | 0.04 | 0.46 | 2.32 | 0.94 | — | — | — | — | — | — | — | — | — | — | — | |
| PreWorld2025.12 | — | — | — | — | — | 0.19 | 0.57 | 2.65 | 1.14 | — | — | — | — | — | — | — | |
| ST-P32025.12 | — | 0.23 | 0.62 | 1.27 | 0.71 | — | — | — | — | — | — | — | — | — | — | — | |
| UniAD2025.12 | — | 0.04 | 0.08 | 0.23 | 0.12 | 0.05 | 0.17 | 0.71 | 0.31 | — | — | — | — | — | — | — | |
| VAD-v22025.12 | — | 0.07 | 0.1 | 0.24 | 0.14 | — | — | — | — | — | — | — | — | — | — | — | |
| WAM-FlowParadigm=DFM, Backbone=Janus-1.5B2025.12 | — | 0.04 | 0.1 | 0.23 | 0.12 | 0 | 0.1 | 0.6 | 0.23 | — | — | — | — | — | — | — |