Open-loop Planning on NAVSIM (L2 Metrics)
0.07L2 Error (1s Horizon)HEAT
Evaluation Results
| Method | Links | ||||
|---|---|---|---|---|---|
| HEATTrain Data=nuScenes, NAVSIM, Waymo, Use perception annotations=false2026.05 | 0.07 | 0.2 | 0.4 | 0.22 | |
| BEVPlaner++Train Data=nuScenes, NAVSIM, Waymo, Use perception annotations=false2026.05 | 0.1 | 0.32 | 0.71 | 0.38 | |
| BEVPlaner++Train Data=nuScenes, Use perception annotations=false2026.05 | 0.42 | 1.01 | 1.82 | 1.08 | |
| LTFTrain Data=nuScenes, Use perception annotations=false2026.05 | 0.49 | 1.04 | 1.82 | 1.12 | |
| LAWTrain Data=nuScenes, NAVSIM, Waymo, Use perception annotations=false2026.05 | 0.74 | 1.2 | 1.69 | 1.21 | |
| LTFTrain Data=nuScenes, NAVSIM, Waymo, Use perception annotations=false2026.05 | 0.8 | 1.99 | 3.4 | 2.06 | |
| BEVPlanerTrain Data=nuScenes, Use perception annotations=false2026.05 | 1.14 | 1.83 | 2.52 | 1.83 | |
| SparseDriveTrain Data=nuScenes, Use perception annotations=true2026.05 | 1.81 | 2.98 | 4.17 | 2.99 | |
| DiffusionDriveTrain Data=nuScenes, Use perception annotations=true2026.05 | 1.95 | 3.15 | 4.3 | 3.13 | |
| UniADTrain Data=nuScenes, Use perception annotations=true2026.05 | 2.04 | 5.44 | 12.8 | 6.76 | |
| BEVPlanerTrain Data=nuScenes, NAVSIM, Waymo, Use perception annotations=false2026.05 | 2.1 | 3.55 | 5.05 | 3.57 | |
| ST-P3Train Data=nuScenes, Use perception annotations=true2026.05 | 2.59 | 4.47 | 7.71 | 4.92 | |
| HEATTrain Data=nuScenes, Use perception annotations=false2026.05 | 3.24 | 5.84 | 8.23 | 5.77 | |
| LAWTrain Data=nuScenes, Use perception annotations=false2026.05 | 3.97 | 6.66 | 9.4 | 6.68 | |
| VAD-BaseTrain Data=nuScenes, Use perception annotations=true2026.05 | 4.25 | 7.15 | 10.09 | 7.16 | |
| VAD-TinyTrain Data=nuScenes, Use perception annotations=true2026.05 | 5.02 | 8.43 | 11.87 | 8.44 |