Open-loop Evaluation on nuScenes
0.12L2 Average Error (1s, m)DAP
Evaluation results
| Method | Links | ||||||||
|---|---|---|---|---|---|---|---|---|---|
| DAP2025.11 | 0.12 | 0.27 | 0.44 | 0.27 | 0.21 | 0.5 | 1 | 0.57 | |
| EMMA+Initialization=Google Gemini [17], Pre-training=Waymo’s internal extra data2025.11 | 0.13 | 0.27 | 0.48 | 0.29 | — | — | — | — | |
| EMMAInitialization=Google Gemini [17]2025.11 | 0.14 | 0.29 | 0.54 | 0.32 | — | — | — | — | |
| OpenDriveVLA2025.11 | 0.15 | 0.31 | 0.55 | 0.33 | 0.2 | 0.58 | 1.21 | 0.66 | |
| SSR2025.11 | 0.19 | 0.36 | 0.62 | 0.39 | 0.25 | 0.64 | 1.33 | 0.74 | |
| MAX-V1Model Variant=MiMo-VL-7B-SFT2025.11 | 0.24 | 0.38 | 0.65 | 0.42 | 0.28 | 0.63 | 1.41 | 0.77 | |
| BridgeAD2025.11 | 0.28 | 0.55 | 0.92 | 0.58 | — | — | — | — | |
| SparseDrive2025.11 | 0.29 | 0.58 | 0.96 | 0.61 | — | — | — | — | |
| VAD2025.11 | 0.41 | 0.7 | 1.05 | 0.72 | — | — | — | — | |
| UniAD2025.11 | 0.42 | 0.64 | 0.91 | 0.66 | 0.48 | 0.96 | 1.65 | 1.03 |