Motion Planning on Town05 Short Benchmark
95.53Driving ScoreTCP
Evaluation Results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| TCPParam Count=25.8M, Inference Time (ms)=17.92024.03 | 95.53 | 99.53 | 0.96 | 0.141 | 0 | |
| TCPParam Count=13.9M, Inference Time (ms)=10.7, With PlanKD=true2024.03 | 95.49 | 99.49 | 0.96 | 0.141 | 0 | |
| InterFuserParam Count=52.9M, Inference Time (ms)=78.32024.03 | 94.88 | 99.88 | 0.95 | 0.141 | 0 | |
| InterFuserParam Count=26.3M, Inference Time (ms)=39.7, With PlanKD=true2024.03 | 93.69 | 96.43 | 0.96 | 0.207 | 0 | |
| TCPParam Count=13.9M, Inference Time (ms)=10.7, With PlanKD=false2024.03 | 84.53 | 88.53 | 0.96 | 0.141 | 0 | |
| TCPParam Count=7.6M, Inference Time (ms)=8.5, With PlanKD=true2024.03 | 83.59 | 87.09 | 0.96 | 0.162 | 0 | |
| InterFuserParam Count=26.3M, Inference Time (ms)=39.7, With PlanKD=false2024.03 | 82.7 | 96.87 | 0.841 | 0.662 | 0.141 | |
| TCPParam Count=7.6M, Inference Time (ms)=8.5, With PlanKD=false2024.03 | 79.34 | 86.84 | 0.919 | 0.303 | 0 | |
| InterFuserParam Count=11.7M, Inference Time (ms)=22.8, With PlanKD=true2024.03 | 74.57 | 96.65 | 0.762 | 0.479 | 0.622 | |
| InterFuserParam Count=3.8M, Inference Time (ms)=17.2, With PlanKD=true2024.03 | 65.18 | 81.52 | 0.807 | 0.337 | 0.863 | |
| TCPParam Count=3.1M, Inference Time (ms)=7.2, With PlanKD=true2024.03 | 64.86 | 68.36 | 0.96 | 0.162 | 0 | |
| TCPParam Count=3.1M, Inference Time (ms)=7.2, With PlanKD=false2024.03 | 58.7 | 65.17 | 0.93 | 0.162 | 0.143 | |
| InterFuserParam Count=11.7M, Inference Time (ms)=22.8, With PlanKD=false2024.03 | 58.17 | 89.69 | 0.644 | 0.731 | 1.638 | |
| InterFuserParam Count=3.8M, Inference Time (ms)=17.2, With PlanKD=false2024.03 | 54.56 | 79.11 | 0.688 | 0.503 | 1.603 |