Open-loop planning on nuScenes open-loop evaluation
0.13L2 Error (1s) (m)EMMA+
Evaluation results
| Method | Links | ||||||||
|---|---|---|---|---|---|---|---|---|---|
| EMMA+Model Category=Text-Based Driving Models, uses ego-vehicle status=true2026.04 | 0.13 | 0.27 | 0.48 | 0.29 | — | — | — | — | |
| ImpromptuVLAModel Category=Text-Based Driving Models, uses ego-vehicle status=true2026.04 | 0.13 | 0.27 | 0.53 | 0.3 | — | — | — | — | |
| SOLVE-VLMModel Category=Text-Based Driving Models, uses ego-vehicle status=true2026.04 | 0.13 | 0.25 | 0.47 | 0.28 | 0 | 16 | 0.43 | 0.2 | |
| OneDriveModel Category=Action-Based Driving Models, uses ego-vehicle status=true2026.04 | 0.13 | 0.25 | 0.46 | 0.28 | 0 | 12 | 0.43 | 0.18 | |
| OmniDriveModel Category=Text-Based Driving Models, uses ego-vehicle status=true2026.04 | 0.14 | 0.29 | 0.55 | 0.33 | 0 | 13 | 0.78 | 0.3 | |
| EMMAModel Category=Text-Based Driving Models, uses ego-vehicle status=true2026.04 | 0.14 | 0.29 | 0.54 | 0.32 | — | — | — | — | |
| VGGDriveModel Category=Text-Based Driving Models, uses ego-vehicle status=true2026.04 | 0.14 | 0.28 | 0.51 | 0.31 | 2 | 10 | 0.55 | 0.22 | |
| SOLVE-E2EModel Category=Action-Based Driving Models, uses ego-vehicle status=true2026.04 | 0.14 | 0.28 | 0.5 | 0.31 | 4 | 17 | 0.68 | 0.3 | |
| ColaVLAModel Category=Action-Based Driving Models, uses ego-vehicle status=true2026.04 | 0.14 | 0.27 | 0.5 | 0.3 | 4 | 17 | 0.47 | 0.23 | |
| DriveVLM-DualModel Category=Text-Based Driving Models, uses ego-vehicle status=true2026.04 | 0.15 | 0.29 | 0.48 | 0.31 | — | — | — | — | |
| AD-MLPModel Category=Action-Based Driving Models, uses ego-vehicle status=true2026.04 | 0.15 | 0.32 | 0.59 | 0.35 | 0 | 27 | 0.85 | 0.37 | |
| BEV-PlannerModel Category=Action-Based Driving Models, uses ego-vehicle status=true2026.04 | 0.16 | 0.32 | 0.57 | 0.35 | 0 | 29 | 0.73 | 0.34 | |
| VAD-BaseModel Category=Action-Based Driving Models, uses ego-vehicle status=true2026.04 | 0.17 | 0.34 | 0.6 | 0.37 | 4 | 27 | 0.67 | 0.33 | |
| DriveVLMModel Category=Text-Based Driving Models, uses ego-vehicle status=true2026.04 | 0.18 | 0.34 | 0.68 | 0.4 | — | — | — | — | |
| UniADModel Category=Action-Based Driving Models, uses ego-vehicle status=true2026.04 | 0.2 | 0.42 | 0.75 | 0.46 | 2 | 25 | 0.84 | 0.37 | |
| BEV-PlannerModel Category=Action-Based Driving Models, uses ego-vehicle status=false2026.04 | 0.3 | 0.52 | 0.83 | 0.55 | 10 | 37 | 1.3 | 0.59 | |
| UniADModel Category=Action-Based Driving Models, uses ego-vehicle status=false2026.04 | 0.59 | 1.01 | 1.48 | 1.03 | 16 | 51 | 1.64 | 0.77 | |
| VAD-BaseModel Category=Action-Based Driving Models, uses ego-vehicle status=false2026.04 | 0.69 | 1.22 | 1.83 | 1.25 | 6 | 68 | 2.52 | 1.09 |