Open-loop planning on nuPlan (test)
0.298ADE (8s)KnowDiffuser
Evaluation results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| KnowDiffuserType=Learning-based2026.03 | 0.298 | 0.245 | 0.337 | 0.568 | 2.1 | |
| CKS-124mType=Learning-based2026.03 | 1.777 | 0.951 | 2.105 | 4.515 | 5.3 | |
| CKS-1.5bType=Learning-based2026.03 | 1.783 | 0.971 | 2.14 | 4.46 | 4.7 | |
| GUMP-mType=Learning-based2026.03 | 1.82 | 0.743 | 1.833 | 4.453 | 4.6 | |
| PDM-OpenType=Learning-based2026.03 | 2.375 | 0.715 | 2.06 | 5.296 | 4.2 | |
| PlanCNNType=Learning-based2026.03 | 2.468 | 0.955 | 2.486 | 5.936 | 6.4 | |
| UrbanDriverType=Learning-based2026.03 | 2.667 | 1.497 | 2.815 | 5.453 | 6.4 | |
| IDMType=Rule-based2026.03 | 9.6 | 6.256 | 10.076 | 16.993 | 55.2 |