# Motion planning on nuScenes v1.0 (val)

Source: [Motion planning on nuScenes v1.0 (val)](<https://www.sota2.com/research/sota/motion-planning-on-nuscenes-v1-0-val>)

Collection index: [llms.txt](<https://www.sota2.com/research/llms.txt>)

Data updated: 2026-05-01T09:10:33.385Z

Evaluation of motion planning performance on the nuScenes v1.0 validation set, measured using L2 displacement error and collision rates across 1, 2, and 3-second prediction horizons.

A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage.

| Scope | Recorded value |
| --- | --- |
| Task | Motion planning |
| Dataset (including any stated split) | nuScenes v1.0 (val) |
| Metric | L2 Error (3s) |
| Unit | SCALAR |
| Direction | Lower is better |
| Results loaded | 29 of 29 |
| Coverage | All results currently returned for this benchmark |

Evaluation settings may differ between results. The original papers and recorded configurations are needed to establish comparability. A shared metric name alone does not establish an identical protocol.

## Metrics

- [L2 Error (3s)](<https://www.sota2.com/research/sota/motion-planning-on-nuscenes-v1-0-val.md?metric=L2%20Error%20(3s)>): Lower is better; unit: SCALAR.

- [L2 Error (1s)](<https://www.sota2.com/research/sota/motion-planning-on-nuscenes-v1-0-val.md?metric=L2%20Error%20(1s)>): Lower is better; unit: SCALAR.

- [L2 Error (2s)](<https://www.sota2.com/research/sota/motion-planning-on-nuscenes-v1-0-val.md?metric=L2%20Error%20(2s)>): Lower is better; unit: SCALAR.

- [L2 Error (Avg)](<https://www.sota2.com/research/sota/motion-planning-on-nuscenes-v1-0-val.md?metric=L2%20Error%20(Avg)>): Lower is better; unit: SCALAR.

- [Collision Rate (1s)](<https://www.sota2.com/research/sota/motion-planning-on-nuscenes-v1-0-val.md?metric=Collision%20Rate%20(1s)>): Lower is better; unit: SCALAR.

- [Collision Rate (2s)](<https://www.sota2.com/research/sota/motion-planning-on-nuscenes-v1-0-val.md?metric=Collision%20Rate%20(2s)>): Lower is better; unit: SCALAR.

- [Collision Rate (3s)](<https://www.sota2.com/research/sota/motion-planning-on-nuscenes-v1-0-val.md?metric=Collision%20Rate%20(3s)>): Lower is better; unit: SCALAR.

- [Collision Rate (Avg)](<https://www.sota2.com/research/sota/motion-planning-on-nuscenes-v1-0-val.md?metric=Collision%20Rate%20(Avg)>): Lower is better; unit: SCALAR.

## Recorded results

| Method | L2 Error (3s) | Result date | Report paper |
| --- | --- | --- | --- |
| OmniDrive++ | 0.55 | Not recorded | 69f433d155a3c32af89fd422 |
| ORION | 0.55 | Not recorded | 69f433d155a3c32af89fd422 |
| BEV-Planner++ | 0.57 | Not recorded | 69f433d155a3c32af89fd422 |
| Ego-MLP | 0.59 | Not recorded | 69f433d155a3c32af89fd422 |
| VAD | 0.6 | Not recorded | 68fa71581e209131cea50b53 |
| VAD-Base | 0.6 | Not recorded | 69f433d155a3c32af89fd422 |
| HERMES++ | 0.62 | Not recorded | 69f433d155a3c32af89fd422 |
| GPT-Driver | 0.7 | Not recorded | 68fa71581e209131cea50b53 |
| UniAD | 0.75 | Not recorded | 69f433d155a3c32af89fd422 |
| LAW | 0.76 | Not recorded | 68fa7b261e209131cea86e1a |
| GenAD | 0.78 | Not recorded | 68fa7b261e209131cea86e1a |
| BEV-Planner | 0.83 | Not recorded | 69f433d155a3c32af89fd422 |
| PPAD | 0.87 | Not recorded | 68fa7b261e209131cea86e1a |
| VAD | 1.05 | Not recorded | 68fa7b261e209131cea86e1a |
| OmniDrive | 1.32 | Not recorded | 69f433d155a3c32af89fd422 |
| GPT-Driver | 1.52 | Not recorded | 68fa71581e209131cea50b53 |
| UniAD | 1.65 | Not recorded | 68fa71581e209131cea50b53 |
| UniAD | 1.65 | Not recorded | 68fa7b261e209131cea86e1a |
| OccTENS | 1.96 | Not recorded | 68fa7b261e209131cea86e1a |
| Epona | 1.98 | Not recorded | 69f433d155a3c32af89fd422 |
| OccWorld | 1.99 | Not recorded | 68fa7b261e209131cea86e1a |
| OccLlama | 2.03 | Not recorded | 68fa7b261e209131cea86e1a |
| SA-NMP | 2.05 | Not recorded | 68fa71581e209131cea50b53 |
| Doe-1 | 2.11 | Not recorded | 69f433d155a3c32af89fd422 |
| NMP | 2.31 | Not recorded | 68fa71581e209131cea50b53 |
| FF | 2.54 | Not recorded | 68fa71581e209131cea50b53 |
| EO | 2.78 | Not recorded | 68fa71581e209131cea50b53 |
| ST-P3 | 2.9 | Not recorded | 68fa71581e209131cea50b53 |
| ST-P3 | 2.9 | Not recorded | 69f433d155a3c32af89fd422 |

### OmniDrive++

L2 Error (3s): 0.55. Result ID: 69f46df647f34ce924da9f28.

[Reporting paper](<https://www.sota2.com/research/paper/69f433d155a3c32af89fd422.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa78031e209131cea76545.md>)

Recorded evaluation configuration: {"Reference":"CVPR 25"}. This record does not assert independent reproduction.

### ORION

L2 Error (3s): 0.55. Result ID: 69f46df647f34ce924da9f2b.

[Reporting paper](<https://www.sota2.com/research/paper/69f433d155a3c32af89fd422.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa779f1e209131cea746c8.md>)

[Implementation](<https://xiaomi-mlab.github.io/Orion/>)

Recorded evaluation configuration: {"Reference":"ICCV 25"}. This record does not assert independent reproduction.

### BEV-Planner++

L2 Error (3s): 0.57. Result ID: 69f46df647f34ce924da9f23.

[Reporting paper](<https://www.sota2.com/research/paper/69f433d155a3c32af89fd422.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa73651e209131cea5c2f1.md>)

[Implementation](<https://github.com/NVlabs/BEV-Planner>)

Recorded evaluation configuration: {"Reference":"CVPR 24"}. This record does not assert independent reproduction.

### Ego-MLP

L2 Error (3s): 0.59. Result ID: 69f46df647f34ce924da9f21.

[Reporting paper](<https://www.sota2.com/research/paper/69f433d155a3c32af89fd422.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa70f21e209131cea4e44d.md>)

[Implementation](<https://github.com/E2E-AD/AD-MLP>)

Recorded evaluation configuration: {"Reference":"arXiv 23"}. This record does not assert independent reproduction.

### VAD

L2 Error (3s): 0.6. Result ID: 6991ab273a6c31484909c8bd.

[Reporting paper](<https://www.sota2.com/research/paper/68fa71581e209131cea50b53.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa70671e209131cea4af09.md>)

[Implementation](<https://github.com/hustvl/VAD>)

Recorded evaluation configuration: {"Evaluation Protocol":"ST-P3 metrics"}. This record does not assert independent reproduction.

### VAD-Base

L2 Error (3s): 0.6. Result ID: 69f46df647f34ce924da9f26.

[Reporting paper](<https://www.sota2.com/research/paper/69f433d155a3c32af89fd422.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa70671e209131cea4af09.md>)

[Implementation](<https://github.com/hustvl/VAD>)

Recorded evaluation configuration: {"Reference":"ICCV 23"}. This record does not assert independent reproduction.

### HERMES++

L2 Error (3s): 0.62. Result ID: 69f46df647f34ce924da9f2c.

[Reporting paper](<https://www.sota2.com/research/paper/69f433d155a3c32af89fd422.md>)

[Method origin paper](<https://www.sota2.com/research/paper/69f433d155a3c32af89fd422.md>)

[Implementation](<https://github.com/H-EmbodVis/HERMESV2>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### GPT-Driver

L2 Error (3s): 0.7. Result ID: 6991ab273a6c31484909c8be.

[Reporting paper](<https://www.sota2.com/research/paper/68fa71581e209131cea50b53.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa71581e209131cea50b53.md>)

Recorded evaluation configuration: {"Evaluation Protocol":"ST-P3 metrics"}. This record does not assert independent reproduction.

### UniAD

L2 Error (3s): 0.75. Result ID: 69f46df647f34ce924da9f25.

[Reporting paper](<https://www.sota2.com/research/paper/69f433d155a3c32af89fd422.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6ee71e209131cea42c46.md>)

[Implementation](<https://github.com/OpenDriveLab/UniAD>)

Recorded evaluation configuration: {"Reference":"CVPR 23"}. This record does not assert independent reproduction.

### LAW

L2 Error (3s): 0.76. Result ID: 69bbb85447f34ce924a5a6bf.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7b261e209131cea86e1a.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa77261e209131cea71614.md>)

[Implementation](<https://github.com/BraveGroup/LAW>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### GenAD

L2 Error (3s): 0.78. Result ID: 69bbb85447f34ce924a5a6be.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7b261e209131cea86e1a.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa72cb1e209131cea5878c.md>)

[Implementation](<https://github.com/wzzheng/GenAD>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### BEV-Planner

L2 Error (3s): 0.83. Result ID: 69f46df647f34ce924da9f22.

[Reporting paper](<https://www.sota2.com/research/paper/69f433d155a3c32af89fd422.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa73651e209131cea5c2f1.md>)

[Implementation](<https://github.com/NVlabs/BEV-Planner>)

Recorded evaluation configuration: {"Reference":"CVPR 24"}. This record does not assert independent reproduction.

### PPAD

L2 Error (3s): 0.87. Result ID: 69bbb85447f34ce924a5a6bd.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7b261e209131cea86e1a.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa74351e209131cea60712.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### VAD

L2 Error (3s): 1.05. Result ID: 69bbb85447f34ce924a5a6bc.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7b261e209131cea86e1a.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa70671e209131cea4af09.md>)

[Implementation](<https://github.com/hustvl/VAD>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### OmniDrive

L2 Error (3s): 1.32. Result ID: 69f46df647f34ce924da9f27.

[Reporting paper](<https://www.sota2.com/research/paper/69f433d155a3c32af89fd422.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa78031e209131cea76545.md>)

Recorded evaluation configuration: {"Reference":"CVPR 25"}. This record does not assert independent reproduction.

### GPT-Driver

L2 Error (3s): 1.52. Result ID: 6991ab273a6c31484909c8c4.

[Reporting paper](<https://www.sota2.com/research/paper/68fa71581e209131cea50b53.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa71581e209131cea50b53.md>)

Recorded evaluation configuration: {"Evaluation Protocol":"UniAD metrics"}. This record does not assert independent reproduction.

### UniAD

L2 Error (3s): 1.65. Result ID: 6991ab273a6c31484909c8c3.

[Reporting paper](<https://www.sota2.com/research/paper/68fa71581e209131cea50b53.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6ee71e209131cea42c46.md>)

[Implementation](<https://github.com/OpenDriveLab/UniAD>)

Recorded evaluation configuration: {"Evaluation Protocol":"UniAD metrics"}. This record does not assert independent reproduction.

### UniAD

L2 Error (3s): 1.65. Result ID: 69bbb85447f34ce924a5a6bb.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7b261e209131cea86e1a.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6ee71e209131cea42c46.md>)

[Implementation](<https://github.com/OpenDriveLab/UniAD>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### OccTENS

L2 Error (3s): 1.96. Result ID: 69bbb85447f34ce924a5a6ba.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7b261e209131cea86e1a.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa7b261e209131cea86e1a.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### Epona

L2 Error (3s): 1.98. Result ID: 69f46df647f34ce924da9f2a.

[Reporting paper](<https://www.sota2.com/research/paper/69f433d155a3c32af89fd422.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa79ca1e209131cea7f613.md>)

Recorded evaluation configuration: {"Reference":"ICCV 25"}. This record does not assert independent reproduction.

### OccWorld

L2 Error (3s): 1.99. Result ID: 69bbb85447f34ce924a5a6b8.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7b261e209131cea86e1a.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa714c1e209131cea5088f.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### OccLlama

L2 Error (3s): 2.03. Result ID: 69bbb85447f34ce924a5a6b9.

[Reporting paper](<https://www.sota2.com/research/paper/68fa7b261e209131cea86e1a.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa74c21e209131cea63979.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### SA-NMP

L2 Error (3s): 2.05. Result ID: 6991ab273a6c31484909c8c0.

[Reporting paper](<https://www.sota2.com/research/paper/68fa71581e209131cea50b53.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa691a1e209131cea20423.md>)

Recorded evaluation configuration: {"Evaluation Protocol":"UniAD metrics"}. This record does not assert independent reproduction.

### Doe-1

L2 Error (3s): 2.11. Result ID: 69f46df647f34ce924da9f29.

[Reporting paper](<https://www.sota2.com/research/paper/69f433d155a3c32af89fd422.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa76261e209131cea6b80a.md>)

Recorded evaluation configuration: {"Reference":"arXiv 24"}. This record does not assert independent reproduction.

### NMP

L2 Error (3s): 2.31. Result ID: 6991ab273a6c31484909c8bf.

[Reporting paper](<https://www.sota2.com/research/paper/68fa71581e209131cea50b53.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa691a1e209131cea20423.md>)

Recorded evaluation configuration: {"Evaluation Protocol":"UniAD metrics"}. This record does not assert independent reproduction.

### FF

L2 Error (3s): 2.54. Result ID: 6991ab273a6c31484909c8c1.

[Reporting paper](<https://www.sota2.com/research/paper/68fa71581e209131cea50b53.md>)

Recorded evaluation configuration: {"Evaluation Protocol":"UniAD metrics"}. This record does not assert independent reproduction.

### EO

L2 Error (3s): 2.78. Result ID: 6991ab273a6c31484909c8c2.

[Reporting paper](<https://www.sota2.com/research/paper/68fa71581e209131cea50b53.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6da81e209131cea3b334.md>)

Recorded evaluation configuration: {"Evaluation Protocol":"UniAD metrics"}. This record does not assert independent reproduction.

### ST-P3

L2 Error (3s): 2.9. Result ID: 6991ab273a6c31484909c8bc.

[Reporting paper](<https://www.sota2.com/research/paper/68fa71581e209131cea50b53.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6cfc1e209131cea37225.md>)

[Implementation](<https://github.com/OpenPerceptionX/ST-P3>)

Recorded evaluation configuration: {"Evaluation Protocol":"ST-P3 metrics"}. This record does not assert independent reproduction.

### ST-P3

L2 Error (3s): 2.9. Result ID: 69f46df647f34ce924da9f24.

[Reporting paper](<https://www.sota2.com/research/paper/69f433d155a3c32af89fd422.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6cfc1e209131cea37225.md>)

[Implementation](<https://github.com/OpenPerceptionX/ST-P3>)

Recorded evaluation configuration: {"Reference":"ECCV 22"}. This record does not assert independent reproduction.

Page 1 of 1. This is an index page, not the full collection.