Motion Planning on Occ3D-nuScenes
0.12L2 Displacement Error (1s)OccLLM
Evaluation Results
| Method | Links | ||||||||
|---|---|---|---|---|---|---|---|---|---|
| OccLLMInput=O&LLM2026.06 | 0.12 | 0.24 | 0.49 | 0.28 | — | — | — | — | |
| SparseWorldAux. Sup.=3D Occ2026.05 | 0.19 | 0.25 | 0.36 | 0.27 | 11 | 29 | 0.46 | 29 | |
| GEMAux. Sup.=3D Occ2026.05 | 0.19 | 0.26 | 0.35 | 0.27 | 9 | 14 | 0.26 | 16 | |
| PreWorldAux. Sup.=3D Occ2026.05 | 0.22 | 0.31 | 0.41 | 0.31 | 36 | 52 | 0.73 | 54 | |
| PreWorld (+ Pre-training)Aux. Sup.=2D & 3D Occ2026.05 | 0.22 | 0.3 | 0.4 | 0.31 | 21 | 66 | 0.71 | 53 | |
| OccLLaMAInput=O&LLM2026.06 | 0.37 | 1.02 | 2.03 | 1.14 | 4 | 24 | 1.2 | 49 | |
| VAD-BaseAux. Sup.=Map & Box & Motion2026.05 | 0.41 | 0.7 | 1.05 | 0.72 | 7 | 17 | 0.41 | 22 | |
| OccWorldInput=O, FPS=10.70, Memory=15,7142026.06 | 0.43 | 1.08 | 1.99 | 1.17 | 7 | 38 | 1.35 | 60 | |
| CascadeOccInput=O, FPS=6.00, Memory=13,7842026.06 | 0.43 | 1.12 | 2.11 | 1.22 | 12 | 31 | 1.35 | 59 | |
| VAD-TinyAux. Sup.=Map & Box & Motion2026.05 | 0.46 | 0.76 | 1.12 | 0.78 | 21 | 35 | 0.58 | 38 | |
| OccWorld-DAux. Sup.=3D Occ2026.05 | 0.52 | 1.27 | 2.41 | 1.4 | 12 | 40 | 2.08 | 87 | |
| OccNetInput=O&M&B2026.06 | 1.29 | 2.31 | 2.98 | 2.25 | 20 | 56 | 1.3 | 69 |