Open-loop planning on nuScenes v1.0 (test)
0.11L2 Error (1s)Senna
Evaluation results
| Method | Links | ||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| SennaParadigm=Hybrid Paradigm, Ego Status: BEV=true, Ego Status: Planner=false2025.12 | 0.11 | 0.21 | 0.35 | 0.22 | 0.04 | 0.08 | 0.13 | 0.08 | — | — | — | — | |
| OmniSpaceMethod Category=2D MLLM + train-time 3D model, LLM=Qwen2.5-VL 7B, Params=7.79B, FPS=0.402026.06 | 0.12 | 0.25 | 0.47 | 0.28 | 0 | 0.001 | 0.0057 | 0.0022 | 0.0032 | 0.0122 | 0.0222 | 0.0125 | |
| OmniSpaceMethod Category=2D MLLM + train-time 3D model, LLM=Qwen3-VL 4B, Params=4.44B, FPS=0.422026.06 | 0.12 | 0.26 | 0.45 | 0.28 | 0.0002 | 0.0014 | 0.0042 | 0.0019 | 0.0025 | 0.012 | 0.0236 | 0.0127 | |
| LVLDriveModel Category=Language Models2025.12 | 0.13 | 0.26 | 0.49 | 0.29 | 0.02 | 0.16 | 0.57 | 0.25 | 0.53 | 2.03 | 5.22 | 2.59 | |
| UADParadigm=Traditional Modular Paradigm, Ego Status: BEV=true, Ego Status: Planner=true2025.12 | 0.13 | 0.28 | 0.48 | 0.3 | 0 | 0.19 | 0.61 | 0.27 | 0.13 | 1.08 | 2.89 | 1.37 | |
| SOLVE-VLMParadigm=Hybrid Paradigm, Ego Status: BEV=true, Ego Status: Planner=false2025.12 | 0.13 | 0.25 | 0.47 | 0.28 | 0 | 0.16 | 0.43 | 0.2 | — | — | — | — | |
| SOLVEBEV ego-status injection=true, Planning-module ego-status injection=true2026.06 | 0.13 | 0.25 | 0.47 | 0.28 | 0 | 0.0016 | 0.0043 | 0.002 | — | — | — | — | |
| OmniSpaceMethod Category=2D MLLM + train-time 3D model, LLM=InternVL3.5 4B, Params=4.77B, FPS=0.462026.06 | 0.13 | 0.26 | 0.5 | 0.3 | 0.0001 | 0.001 | 0.005 | 0.002 | 0.0031 | 0.0188 | 0.0232 | 0.015 | |
| OmniDrive-AgentModel Category=Language Models2025.12 | 0.14 | 0.29 | 0.55 | 0.33 | 0 | 0.13 | 0.78 | 0.3 | 0.56 | 2.48 | 5.96 | 3 | |
| EMMAParadigm=VLM-based Paradigm, Ego Status: BEV=false, Ego Status: Planner=false2025.12 | 0.14 | 0.29 | 0.54 | 0.32 | — | — | — | — | — | — | — | — | |
| OmniDrive-Q++Paradigm=VLM-based Paradigm, Ego Status: BEV=true, Ego Status: Planner=true2025.12 | 0.14 | 0.29 | 0.55 | 0.33 | 0 | 0.13 | 0.78 | 0.3 | 0.56 | 2.48 | 5.96 | 3 | |
| RoboTron–DriveBEV ego-status injection=false, Planning-module ego-status injection=false2026.06 | 0.14 | 0.3 | 0.57 | 0.33 | 0.03 | 0.0012 | 0.0063 | 0.0026 | — | — | — | — | |
| SparseOccVLABEV ego-status injection=true, Planning-module ego-status injection=true2026.06 | 0.14 | 0.22 | 0.32 | 0.23 | 0.03 | 0.0012 | 0.0041 | 0.0019 | — | — | — | — | |
| OmniDriveBEV ego-status injection=true, Planning-module ego-status injection=true2026.06 | 0.14 | 0.29 | 0.55 | 0.33 | 0 | 0.0013 | 0.0078 | 0.003 | 0.0056 | 0.0248 | 0.0596 | 0.03 | |
| EMMAMethod Category=2D MLLM2026.06 | 0.14 | 0.29 | 0.54 | 0.32 | — | — | — | — | — | — | — | — | |
| OmniDriveMethod Category=2D MLLM + test-time 3D model, LLM=LLaVA-7B, Params=7.2B, FPS=0.272026.06 | 0.14 | 0.29 | 0.55 | 0.33 | 0 | 0.0013 | 0.0078 | 0.003 | 0.0056 | 0.0248 | 0.0596 | 0.03 | |
| VGGDriveMethod Category=2D MLLM + test-time 3D model, LLM=Qwen2.5-VL 7B, Params=8.5B, FPS=0.032026.06 | 0.14 | 0.28 | 0.51 | 0.31 | 0.0002 | 0.001 | 0.0055 | 0.0022 | 0.0063 | 0.0227 | 0.0402 | 0.0231 | |
| VeriDrive (filter)BEV ego-status injection=true, Planning-module ego-status injection=true, filtering=true2026.06 | 0.1489 | 0.2952 | 0.5343 | 0.3261 | 0 | 0.0012 | 0.0061 | 0.0024 | 0.0053 | 0.0182 | 0.0375 | 0.0203 | |
| Ego-MLPModel Category=End-to-end Models, Ego status in BEV module=false2025.12 | 0.15 | 0.32 | 0.59 | 0.35 | 0 | 0.27 | 0.85 | 0.37 | 0.27 | 2.52 | 6.6 | 2.93 | |
| OmniReasonModel Category=Language Models2025.12 | 0.15 | 0.31 | 0.57 | 0.34 | 0.04 | 0.18 | 0.98 | 0.4 | 0.61 | 2.75 | 6.19 | 3.18 | |
| AD-MLPParadigm=Traditional Modular Paradigm, Ego Status: BEV=false, Ego Status: Planner=true2025.12 | 0.15 | 0.32 | 0.59 | 0.35 | 0 | 0.27 | 0.85 | 0.37 | 0.27 | 2.52 | 6.6 | 2.93 | |
| SpaceDrive+Paradigm=VLM-based Paradigm, Ego Status: BEV=false, Ego Status: Planner=true2025.12 | 0.15 | 0.29 | 0.51 | 0.32 | 0.04 | 0.18 | 0.49 | 0.23 | 0.22 | 0.8 | 2.79 | 1.27 | |
| DriveVLM-DualParadigm=Hybrid Paradigm, Ego Status: BEV=true, Ego Status: Planner=false2025.12 | 0.15 | 0.29 | 0.48 | 0.31 | 0.05 | 0.08 | 0.17 | 0.1 | — | — | — | — | |
| AD–MLPBEV ego-status injection=false, Planning-module ego-status injection=true2026.06 | 0.15 | 0.32 | 0.59 | 0.35 | 0 | 0.0027 | 0.0085 | 0.0037 | 0.0027 | 0.0252 | 0.066 | 0.0293 | |
| DriveVLM–DualBEV ego-status injection=false, Planning-module ego-status injection=true2026.06 | 0.15 | 0.29 | 0.48 | 0.31 | 0.05 | 0.0008 | 0.0017 | 0.001 | — | — | — | — | |
| BaselineMethod Category=2D MLLM, LLM=Qwen2.5-VL 7B, Params=7.75B, FPS=0.422026.06 | 0.15 | 0.33 | 0.62 | 0.37 | 0 | 0.0018 | 0.0076 | 0.0031 | 0.0094 | 0.0309 | 0.0676 | 0.0359 | |
| BaselineMethod Category=2D MLLM, LLM=InternVL3.5 4B, Params=4.73B, FPS=0.472026.06 | 0.15 | 0.33 | 0.62 | 0.37 | 0 | 0.0018 | 0.0088 | 0.0035 | 0.0078 | 0.0303 | 0.0695 | 0.0359 | |
| BaselineMethod Category=2D MLLM, LLM=Qwen3-VL 4B, Params=4.4B, FPS=0.442026.06 | 0.15 | 0.32 | 0.61 | 0.36 | 0 | 0.0014 | 0.0096 | 0.0036 | 0.0057 | 0.0254 | 0.0604 | 0.0305 | |
| SpaceDriveMethod Category=2D MLLM + test-time 3D model, LLM=Qwen2.5-VL 7B, Params=8.7B, FPS=0.252026.06 | 0.15 | 0.29 | 0.51 | 0.32 | 0.0004 | 0.0018 | 0.0049 | 0.0023 | 0.0022 | 0.008 | 0.0279 | 0.0127 | |
| VeriDrive (no filter)BEV ego-status injection=true, Planning-module ego-status injection=true, filtering=false2026.06 | 0.1561 | 0.3091 | 0.5546 | 0.34 | 0 | 0.0014 | 0.0064 | 0.0026 | 0.0053 | 0.0188 | 0.0387 | 0.0209 | |
| BEV-PlannerModel Category=End-to-end Models2025.12 | 0.16 | 0.32 | 0.57 | 0.35 | 0 | 0.29 | 0.73 | 0.34 | 0.35 | 2.62 | 6.51 | 3.16 | |
| BEV-Planner++Paradigm=Traditional Modular Paradigm, Ego Status: BEV=true, Ego Status: Planner=true2025.12 | 0.16 | 0.32 | 0.57 | 0.35 | 0 | 0.29 | 0.73 | 0.34 | 0.35 | 2.62 | 6.51 | 3.16 | |
| BEV–Planner++BEV ego-status injection=true, Planning-module ego-status injection=true2026.06 | 0.16 | 0.32 | 0.57 | 0.35 | 0 | 0.0029 | 0.0073 | 0.0034 | 0.0035 | 0.0262 | 0.0651 | 0.0316 | |
| BEV-PlannerMethod Category=Traditional2026.06 | 0.16 | 0.32 | 0.57 | 0.35 | 0 | 0.0029 | 0.0073 | 0.0034 | 0.0035 | 0.0262 | 0.0651 | 0.0316 | |
| VAD-BaseModel Category=End-to-end Models2025.12 | 0.17 | 0.34 | 0.6 | 0.37 | 0.04 | 0.27 | 0.67 | 0.33 | 0.21 | 2.13 | 5.06 | 2.47 | |
| OrionModel Category=Language Models, Ego status in planner=false2025.12 | 0.17 | 0.31 | 0.55 | 0.32 | 0.05 | 0.25 | 0.8 | 0.37 | — | — | — | — | |
| VAD-BaseParadigm=Traditional Modular Paradigm, Ego Status: BEV=true, Ego Status: Planner=true2025.12 | 0.17 | 0.34 | 0.6 | 0.37 | 0.04 | 0.27 | 0.67 | 0.33 | 0.21 | 2.13 | 5.06 | 2.47 | |
| ORIONParadigm=VLM-based Paradigm, Ego Status: BEV=true, Ego Status: Planner=false2025.12 | 0.17 | 0.31 | 0.55 | 0.34 | 0.05 | 0.25 | 0.8 | 0.37 | — | — | — | — | |
| VAD–BaseBEV ego-status injection=true, Planning-module ego-status injection=true2026.06 | 0.17 | 0.34 | 0.6 | 0.37 | 0.04 | 0.0027 | 0.0067 | 0.0033 | 0.0021 | 0.0213 | 0.0506 | 0.0247 | |
| VAD-BaseMethod Category=Traditional, Params=58M, FPS=4.52026.06 | 0.17 | 0.34 | 0.6 | 0.37 | 0.0004 | 0.0027 | 0.0067 | 0.0033 | 0.0021 | 0.0213 | 0.0506 | 0.0247 | |
| ORIONMethod Category=2D MLLM + test-time 3D model, LLM=Vicuna-7B-v1.5, Params=7.55B2026.06 | 0.17 | 0.31 | 0.55 | 0.34 | 0.0005 | 0.0025 | 0.008 | 0.0037 | — | — | — | — | |
| DriveVLMModel Category=Language Models2025.12 | 0.18 | 0.34 | 0.68 | 0.4 | 0.1 | 0.22 | 0.45 | 0.27 | — | — | — | — | |
| DriveVLMParadigm=VLM-based Paradigm, Ego Status: BEV=false, Ego Status: Planner=true2025.12 | 0.18 | 0.34 | 0.68 | 0.4 | 0.1 | 0.22 | 0.45 | 0.27 | — | — | — | — | |
| DriveVLMMethod Category=2D MLLM, LLM=Qwen-VL, Params=9.6B2026.06 | 0.18 | 0.34 | 0.68 | 0.4 | 0.001 | 0.0022 | 0.0045 | 0.0027 | — | — | — | — | |
| UniADModel Category=End-to-end Models2025.12 | 0.2 | 0.42 | 0.75 | 0.46 | 0.02 | 0.25 | 0.84 | 0.37 | 0.2 | 1.33 | 3.24 | 1.59 | |
| UniADParadigm=Traditional Modular Paradigm, Ego Status: BEV=true, Ego Status: Planner=true2025.12 | 0.2 | 0.42 | 0.75 | 0.46 | 0.02 | 0.25 | 0.84 | 0.37 | 0.2 | 1.33 | 3.24 | 1.59 | |
| DVGT-2Input=Camera, Aux. Sup.=Dense Geometry, average of previous frames=true2026.04 | 0.2 | 0.37 | 0.66 | 0.41 | 0.04 | 0.14 | 0.47 | 0.22 | — | — | — | — | |
| UniADBEV ego-status injection=true, Planning-module ego-status injection=true2026.06 | 0.2 | 0.42 | 0.75 | 0.46 | 0.02 | 0.0025 | 0.0084 | 0.0037 | 0.002 | 0.0133 | 0.0324 | 0.0159 | |
| OpenDriveVLA–7BBEV ego-status injection=true, Planning-module ego-status injection=true2026.06 | 0.2 | 0.58 | 1.21 | 0.66 | 0 | 0.0022 | 0.0055 | 0.0025 | — | — | — | — | |
| UniADMethod Category=Traditional, Params=125M, FPS=1.82026.06 | 0.2 | 0.42 | 0.75 | 0.46 | 0.0002 | 0.0025 | 0.0084 | 0.0037 | 0.002 | 0.0133 | 0.0324 | 0.0159 | |
| RDA-DriverParadigm=VLM-based Paradigm, Ego Status: BEV=true, Ego Status: Planner=true2025.12 | 0.23 | 0.73 | 1.54 | 0.8 | 0 | 0.13 | 0.83 | 0.32 | — | — | — | — | |
| World4DriveBEV ego-status injection=false, Planning-module ego-status injection=false2026.06 | 0.23 | 0.47 | 0.81 | 0.5 | 0.02 | 0.0012 | 0.0033 | 0.0016 | — | — | — | — | |
| DVGT-2Input=Camera, Aux. Sup.=Dense Geometry, average of previous frames=false2026.04 | 0.25 | 0.67 | 1.43 | 0.78 | 0 | 0.07 | 0.5 | 0.19 | — | — | — | — | |
| LAWBEV ego-status injection=false, Planning-module ego-status injection=false2026.06 | 0.26 | 0.57 | 1.01 | 0.61 | 0.14 | 0.0021 | 0.0054 | 0.003 | — | — | — | — | |
| GenADInput=Camera, Aux. Sup.=Map & Box & Mot., average of previous frames=true2026.04 | 0.28 | 0.49 | 0.78 | 0.52 | 0.08 | 0.14 | 0.34 | 0.19 | — | — | — | — | |
| VLPParadigm=Hybrid Paradigm, Ego Status: BEV=true, Ego Status: Planner=false2025.12 | 0.3 | 0.53 | 0.84 | 0.55 | 0.01 | 0.07 | 0.38 | 0.15 | — | — | — | — | |
| ReAL-ADParadigm=Hybrid Paradigm, Ego Status: BEV=true, Ego Status: Planner=false2025.12 | 0.3 | 0.48 | 0.67 | 0.48 | 0.07 | 0.1 | 0.28 | 0.15 | — | — | — | — | |
| BEV–PlannerBEV ego-status injection=false, Planning-module ego-status injection=false2026.06 | 0.3 | 0.52 | 0.83 | 0.55 | 0.1 | 0.0037 | 0.013 | 0.0059 | 0.0078 | 0.0379 | 0.0822 | 0.0426 | |
| GaussianADInput=Camera, Aux. Sup.=Map & Box & Occ, average of previous frames=true2026.04 | 0.34 | 0.47 | 0.6 | 0.47 | 0.49 | 0.49 | 0.51 | 0.5 | — | — | — | — | |
| GenADInput=Camera, Aux. Sup.=Map & Box & Mot., average of previous frames=false2026.04 | 0.36 | 0.83 | 1.55 | 0.91 | 0.06 | 0.23 | — | 0.43 | — | — | — | — | |
| OccWorld-DInput=Camera, Aux. Sup.=Occ, average of previous frames=true2026.04 | 0.39 | 0.73 | 1.18 | 0.77 | 0.11 | 0.19 | 0.67 | 0.32 | — | — | — | — | |
| GaussianADInput=Camera, Aux. Sup.=Map & Box & Mot. & Occ, average of previous frames=false2026.04 | 0.4 | 0.64 | 0.88 | 0.64 | 0.09 | 0.38 | 0.81 | 0.42 | — | — | — | — | |
| OmniDriveInput=Camera, Aux. Sup.=Map & Box & Language, average of previous frames=false2026.04 | 0.4 | 0.8 | 1.32 | 0.84 | 0.04 | 0.46 | 2.32 | 0.94 | — | — | — | — | |
| VAD-BaseInput=Camera, Aux. Sup.=Map & Box & Mot., average of previous frames=true2026.04 | 0.41 | 0.7 | 1.05 | 0.72 | 0.07 | 0.17 | 0.41 | 0.22 | — | — | — | — | |
| ILInput=LiDAR, Aux. Sup.=None, average of previous frames=false2026.04 | 0.44 | 1.15 | 2.47 | 1.35 | 0.08 | 0.27 | 1.95 | 0.77 | — | — | — | — | |
| VAD-TinyInput=Camera, Aux. Sup.=Map & Box & Mot., average of previous frames=true2026.04 | 0.46 | 0.76 | 1.12 | 0.78 | 0.21 | 0.35 | 0.58 | 0.38 | — | — | — | — | |
| UniADInput=Camera, Aux. Sup.=Map & Box & Mot. & Occ, average of previous frames=false2026.04 | 0.48 | 0.96 | 1.65 | 1.03 | 0.05 | 0.17 | 0.71 | 0.31 | — | — | — | — | |
| Doe-1Input=Camera, Aux. Sup.=Language, average of previous frames=false2026.04 | 0.5 | 1.18 | 2.11 | 1.26 | 0.04 | 0.37 | 1.19 | 0.53 | — | — | — | — | |
| OccWorldInput=Camera, Aux. Sup.=Occ, average of previous frames=false2026.04 | 0.52 | 1.27 | 2.41 | 1.4 | 0.12 | 0.4 | 2.08 | 0.87 | — | — | — | — | |
| NMPInput=LiDAR, Aux. Sup.=Box & Motion, average of previous frames=false2026.04 | 0.53 | 1.25 | 2.67 | 1.48 | 0.04 | 0.12 | 0.87 | 0.34 | — | — | — | — | |
| VAD-BaseInput=Camera, Aux. Sup.=Map & Box & Mot., average of previous frames=false2026.04 | 0.54 | 1.15 | 1.98 | 1.22 | 0.04 | 0.39 | 1.17 | 0.53 | — | — | — | — | |
| FFInput=LiDAR, Aux. Sup.=Freespace, average of previous frames=false2026.04 | 0.55 | 1.2 | 2.54 | 1.43 | 0.06 | 0.17 | 1.07 | 0.43 | — | — | — | — | |
| UniUGPInput=Camera, Aux. Sup.=Language, average of previous frames=false2026.04 | 0.58 | 1.14 | 1.95 | 1.23 | 0.01 | 0.19 | 0.81 | 0.33 | — | — | — | — | |
| UniADBEV ego-status injection=false, Planning-module ego-status injection=false2026.06 | 0.59 | 1.01 | 1.48 | 1.03 | 0.16 | 0.0051 | 0.0164 | 0.0077 | 0.0035 | 0.0146 | 0.0399 | 0.0193 | |
| VAD-TinyInput=Camera, Aux. Sup.=Map & Box & Mot., average of previous frames=false2026.04 | 0.6 | 1.23 | 2.06 | 1.3 | 0.31 | 0.53 | 1.33 | 0.72 | — | — | — | — | |
| EOInput=LiDAR, Aux. Sup.=Freespace, average of previous frames=false2026.04 | 0.67 | 1.36 | 2.78 | 1.6 | 0.04 | 0.09 | 0.88 | 0.33 | — | — | — | — | |
| VAD–BaseBEV ego-status injection=false, Planning-module ego-status injection=false2026.06 | 0.69 | 1.22 | 1.83 | 1.25 | 0.06 | 0.0068 | 0.0252 | 0.0109 | 0.0102 | 0.0344 | 0.07 | 0.0382 | |
| SpaceDriveParadigm=VLM-based Paradigm, Ego Status: BEV=false, Ego Status: Planner=false2025.12 | 1.06 | 1.79 | 2.55 | 1.8 | 0.35 | 1.33 | 3.97 | 1.88 | 0.96 | 3.38 | 8.28 | 4.21 | |
| OmniDrive-QParadigm=VLM-based Paradigm, Ego Status: BEV=false, Ego Status: Planner=false2025.12 | 1.15 | 1.96 | 2.84 | 1.98 | 0.8 | 3.12 | 7.46 | 3.79 | 1.66 | 3.86 | 8.26 | 4.59 | |
| OccNetInput=Camera, Aux. Sup.=Occ & Map & Box, average of previous frames=false2026.04 | 1.29 | 2.13 | 2.99 | 2.14 | 0.21 | 0.59 | 1.37 | 0.72 | — | — | — | — | |
| ST-P3Input=Camera, Aux. Sup.=Map & Box & Depth, average of previous frames=false2026.04 | 1.33 | 2.11 | 2.9 | 2.11 | 0.23 | 0.62 | 1.27 | 0.71 | — | — | — | — | |
| ST-P3Paradigm=Traditional Modular Paradigm, Ego Status: BEV=false, Ego Status: Planner=false2025.12 | 1.59 | 2.64 | 3.73 | 2.65 | 0.69 | 3.62 | 8.39 | 4.23 | 2.53 | 8.17 | 14.4 | 8.37 | |
| ST–P3BEV ego-status injection=false, Planning-module ego-status injection=false2026.06 | 1.59 | 2.64 | 3.73 | 2.65 | 0.69 | 0.0362 | 0.0839 | 0.0423 | 0.0253 | 0.0817 | 0.144 | 0.0837 | |
| ST-P3Method Category=Traditional, Params=11M2026.06 | 1.59 | 2.64 | 3.73 | 2.65 | 0.0069 | 0.0362 | 0.0839 | 0.0423 | 0.0253 | 0.0817 | 0.144 | 0.0837 |