Open-loop planning on nuScenes v1.0-trainval (val)
0.28L2 Error (Avg)FSDrive
Evaluation results
| Method | Links | ||||||||
|---|---|---|---|---|---|---|---|---|---|
| FSDriveground-truth ego status=true, training schedule=extended, LLM=Qwen2-VL-3B2026.06 | 0.28 | 0.14 | 0.25 | 0.46 | 3 | 6 | 0.21 | 10 | |
| CloverEvaluation Protocol=ST-P32026.05 | 0.31 | — | — | — | — | — | — | 10 | |
| VGGDriveground-truth ego status=true, LLM=Qwen2.5-VL-7B2026.06 | 0.31 | 0.14 | 0.28 | 0.51 | 2 | 10 | 0.55 | 22 | |
| EMMAEvaluation Protocol=ST-P32026.05 | 0.32 | — | — | — | — | — | — | — | |
| DriveTransformer-Large2026.01 | 0.33 | 0.16 | 0.3 | 0.55 | 1 | 6 | 15 | 7 | |
| Impromptu VLAEvaluation Protocol=ST-P32026.05 | 0.33 | — | — | — | — | — | — | 13 | |
| OpenDriveVLAEvaluation Protocol=ST-P32026.05 | 0.33 | — | — | — | — | — | — | 10 | |
| OmniDriveground-truth ego status=true, LLM=LLaVA-7B2026.06 | 0.33 | 0.14 | 0.29 | 0.55 | 0 | 13 | 0.78 | 30 | |
| OpenDriveVLAground-truth ego status=true, LLM=Qwen2.5-VL-3B2026.06 | 0.33 | 0.14 | 0.3 | 0.55 | 2 | 7 | 0.22 | 10 | |
| Orionground-truth ego status=true, LLM=LLaVA-7B2026.06 | 0.34 | 0.17 | 0.31 | 0.55 | 5 | 25 | 0.8 | 37 | |
| BEV-Plannerground-truth ego status=true2026.06 | 0.35 | 0.16 | 0.32 | 0.57 | 0 | 29 | 0.73 | 34 | |
| EchoPAuxiliary Task=None, Evaluation Protocol=VAD protocol, Backbone=ResNet-502025.05 | 0.36 | 0.17 | 0.33 | 0.58 | 3 | 0.05 | 0.14 | 0.07 | |
| VADEvaluation Protocol=ST-P32026.05 | 0.37 | — | — | — | — | — | — | 14 | |
| VADground-truth ego status=true2026.06 | 0.37 | 0.17 | 0.34 | 0.6 | 4 | 27 | 0.67 | 33 | |
| SSRAuxiliary Task=None, Evaluation Protocol=VAD protocol, Implementation=Re-implemented with official weights, Backbone=ResNet-502025.05 | 0.39 | 0.19 | 0.36 | 0.62 | 10 | 0.13 | 0.22 | 0.15 | |
| HPPground-truth ego status=true2026.06 | 0.4 | 0.26 | 0.37 | 0.59 | 2 | 5 | 0.11 | 6 | |
| RDA-Driverground-truth ego status=true, LLM=LLaVA-7B2026.06 | 0.4 | 0.17 | 0.37 | 0.69 | 1 | 5 | 0.26 | 10 | |
| DVGT-2ground-truth ego status=true2026.06 | 0.41 | 0.2 | 0.37 | 0.66 | 4 | 14 | 0.47 | 22 | |
| VLGA-Baseground-truth ego status=true, LLM=Qwen3-VL-2B2026.06 | 0.41 | 0.21 | 0.39 | 0.64 | 3 | 7 | 0.19 | 10 | |
| VLGA-Largeground-truth ego status=true, LLM=Qwen3-VL-8B2026.06 | 0.41 | 0.22 | 0.39 | 0.62 | 2 | 7 | 0.16 | 8 | |
| UniDriveVLA-Largeground-truth ego status=true, LLM=Qwen3-VL-8B2026.06 | 0.42 | 0.24 | 0.4 | 0.63 | 3 | 9 | 0.16 | 10 | |
| UniDriveVLA-Baseground-truth ego status=true, LLM=Qwen3-VL-2B2026.06 | 0.43 | 0.23 | 0.4 | 0.65 | 4 | 9 | 0.18 | 10 | |
| UADAuxiliary Task=Det, Evaluation Protocol=VAD protocol, Backbone=ResNet-1012025.05 | 0.45 | 0.28 | 0.41 | 0.65 | 1 | 0.03 | 0.14 | 0.06 | |
| BEV–PlannerAuxiliary Task=None, Evaluation Protocol=VAD protocol, Backbone=ResNet-502025.05 | 0.46 | 0.28 | 0.42 | 0.68 | 4 | 0.37 | 1.07 | 0.49 | |
| UniADground-truth ego status=true2026.06 | 0.46 | 0.2 | 0.42 | 0.75 | 2 | 25 | 0.84 | 37 | |
| PARA–DriveAuxiliary Task=Det&Track&Map&Motion&Occ, Evaluation Protocol=VAD protocol, Backbone=ResNet-502025.05 | 0.48 | 0.25 | 0.46 | 0.74 | 14 | 0.23 | 0.39 | 0.25 | |
| AutoVLAEvaluation Protocol=ST-P32026.05 | 0.48 | — | — | — | — | — | — | 13 | |
| AutoVLAground-truth ego status=true, LLM=Qwen2.5-VL-3B2026.06 | 0.48 | 0.25 | 0.46 | 0.73 | 7 | 7 | 0.26 | 13 | |
| VLGA-Largeground-truth ego status=false, LLM=Qwen3-VL-8B2026.06 | 0.5 | 0.26 | 0.48 | 0.76 | 2 | 6 | 0.18 | 9 | |
| UniDriveVLA-Largeground-truth ego status=false, LLM=Qwen3-VL-8B2026.06 | 0.51 | 0.27 | 0.49 | 0.77 | 3 | 10 | 0.21 | 11 | |
| GenAD2026.01 | 0.52 | 0.28 | 0.49 | 0.78 | 8 | 14 | 34 | 19 | |
| GenADAuxiliary Task=Det & Map & Motion, Evaluation Protocol=VAD protocol, Backbone=ResNet-502025.05 | 0.52 | 0.28 | 0.49 | 0.78 | 8 | 0.14 | 0.34 | 0.19 | |
| VLGA-Baseground-truth ego status=false, LLM=Qwen3-VL-2B2026.06 | 0.52 | 0.26 | 0.5 | 0.81 | 3 | 10 | 0.28 | 14 | |
| FSDriveground-truth ego status=false, LLM=Qwen2-VL-3B2026.06 | 0.53 | 0.28 | 0.52 | 0.8 | 6 | 13 | 0.32 | 17 | |
| UniDriveVLA-Baseground-truth ego status=false, LLM=Qwen3-VL-2B2026.06 | 0.54 | 0.28 | 0.51 | 0.82 | 8 | 13 | 0.31 | 17 | |
| BEV-Plannerground-truth ego status=false2026.06 | 0.55 | 0.3 | 0.52 | 0.83 | 10 | 37 | 1.3 | 59 | |
| SparseDriveground-truth ego status=false, evaluation protocol=GPT-Driver2026.06 | 0.55 | 0.28 | 0.53 | 0.84 | 3 | 5 | 0.15 | 8 | |
| HiP-AD2026.01 | 0.56 | 0.28 | 0.53 | 0.87 | 1 | 5 | 15 | 7 | |
| DiffDriveAuxiliary Task=Det &Map, Evaluation Protocol=VAD protocol, Backbone=ResNet-502025.05 | 0.57 | 0.27 | 0.54 | 0.9 | 3 | 0.05 | 0.16 | 0.08 | |
| BridgeADAuxiliary Task=None, Evaluation Protocol=VAD protocol, Backbone=ResNet-502025.05 | 0.58 | 0.28 | 0.55 | 0.92 | 0 | 0.04 | 0.2 | 0.08 | |
| HE–DriveAuxiliary Task=Det&Track&Map, Evaluation Protocol=VAD protocol, Backbone=ResNet-502025.05 | 0.6 | 0.31 | 0.58 | 0.93 | 1 | 0.05 | 0.16 | 0.07 | |
| MomADAuxiliary Task=None, Evaluation Protocol=VAD protocol, Backbone=ResNet-502025.05 | 0.6 | 0.31 | 0.57 | 0.91 | 1 | 0.05 | 0.22 | 0.09 | |
| FocalADAuxiliary Task=Det & Map & Motion, Evaluation Protocol=VAD protocol, Backbone=ResNet-502025.05 | 0.6 | 0.27 | 0.57 | 0.96 | — | 0.04 | 0.24 | 0.09 | |
| SparseDrive-S2026.01 | 0.61 | 0.29 | 0.58 | 0.96 | 1 | 5 | 18 | 8 | |
| LAWAuxiliary Task=None, Evaluation Protocol=VAD protocol, Backbone=ResNet-502025.05 | 0.61 | 0.26 | 0.57 | 1.01 | 14 | 0.21 | 0.54 | 0.3 | |
| SparseDriveAuxiliary Task=Det&Track&Map&Motion, Evaluation Protocol=VAD protocol, Backbone=ResNet-502025.05 | 0.61 | 0.29 | 0.58 | 0.96 | 1 | 0.05 | 0.18 | 0.08 | |
| HPPground-truth ego status=false2026.06 | 0.63 | 0.41 | 0.61 | 0.86 | 3 | 8 | 0.24 | 12 | |
| CloverEvaluation Protocol=UniAD2026.05 | 0.65 | — | — | — | — | — | — | 30 | |
| Impromptu VLAEvaluation Protocol=UniAD2026.05 | 0.67 | — | — | — | — | — | — | 38 | |
| OpenDriveVLAEvaluation Protocol=UniAD2026.05 | 0.67 | — | — | — | — | — | — | 30 | |
| UniADAuxiliary Task=Det&Track&Map&Motion&Occ, Evaluation Protocol=VAD protocol, Backbone=ResNet-1012025.05 | 0.69 | 0.44 | 0.67 | 0.96 | 4 | 0.08 | 0.23 | 0.12 | |
| UniADEvaluation Protocol=ST-P32026.05 | 0.69 | — | — | — | — | — | — | 12 | |
| EchoPAuxiliary Task=None, Evaluation Protocol=UniAD protocol, Backbone=ResNet-502025.05 | 0.7 | 0.23 | 0.6 | 1.27 | 2 | 0.12 | 0.39 | 0.17 | |
| VAD-Base2026.01 | 0.72 | 0.41 | 0.7 | 1.05 | 3 | 19 | 43 | 21 | |
| VAD–BaseAuxiliary Task=Det & Map & Motion, Evaluation Protocol=VAD protocol, Backbone=ResNet-502025.05 | 0.72 | 0.41 | 0.7 | 1.05 | 7 | 0.17 | 0.41 | 0.22 | |
| VADground-truth ego status=false2026.06 | 0.72 | 0.41 | 0.7 | 1.05 | 3 | 19 | 0.43 | 21 | |
| UniADground-truth ego status=false2026.06 | 0.73 | 0.45 | 0.7 | 1.04 | 62 | 58 | 0.63 | 61 | |
| SSRAuxiliary Task=None, Evaluation Protocol=UniAD protocol, Implementation=Re-implemented with official weights, Backbone=ResNet-502025.05 | 0.74 | 0.25 | 0.64 | 1.33 | 16 | 0.21 | 0.51 | 0.29 | |
| OccWorldground-truth ego status=false2026.06 | 0.77 | 0.39 | 0.73 | 1.18 | 11 | 19 | 0.67 | 32 | |
| AlignDrive2026.01 | 0.78 | 0.38 | 0.73 | 1.23 | 1 | 4 | 14 | 6 | |
| VAD–TinyAuxiliary Task=Det & Map & Motion, Evaluation Protocol=VAD protocol, Backbone=ResNet-502025.05 | 0.78 | 0.46 | 0.76 | 1.12 | 21 | 0.35 | 0.58 | 0.38 | |
| PARA–DriveAuxiliary Task=Det&Track&Map&Motion&Occ, Evaluation Protocol=UniAD protocol, Backbone=ResNet-502025.05 | 0.83 | 0.4 | 0.77 | 1.31 | 7 | 0.25 | 0.6 | 0.3 | |
| OmniDriveground-truth ego status=false, LLM=LLaVA-7B2026.06 | 0.84 | 0.4 | 0.8 | 1.32 | 4 | 46 | 2.32 | 94 | |
| AutoVLAEvaluation Protocol=UniAD2026.05 | 0.86 | — | — | — | — | — | — | 35 | |
| UADAuxiliary Task=Det, Evaluation Protocol=UniAD protocol, Backbone=ResNet-1012025.05 | 0.9 | 0.39 | 0.81 | 1.5 | 1 | 0.12 | 0.43 | 0.19 | |
| GenADAuxiliary Task=Det & Map & Motion, Evaluation Protocol=UniAD protocol, Backbone=ResNet-502025.05 | 0.91 | 0.36 | 0.83 | 1.55 | 6 | 0.23 | 1 | 0.43 | |
| MomADAuxiliary Task=None, Evaluation Protocol=UniAD protocol, Backbone=ResNet-502025.05 | 0.98 | 0.43 | 0.88 | 1.62 | 6 | 0.16 | 0.68 | 0.3 | |
| SparseDriveAuxiliary Task=Det&Track&Map&Motion, Evaluation Protocol=UniAD protocol, Backbone=ResNet-502025.05 | 1.01 | 0.44 | 0.92 | 1.69 | 7 | 0.19 | 0.71 | 0.32 | |
| UniADAuxiliary Task=Det&Track&Map&Motion&Occ, Evaluation Protocol=UniAD protocol, Backbone=ResNet-1012025.05 | 1.03 | 0.48 | 0.96 | 1.65 | 5 | 0.17 | 0.71 | 0.31 | |
| UniADEvaluation Protocol=UniAD2026.05 | 1.03 | — | — | — | — | — | — | 31 | |
| UAD–TinyAuxiliary Task=Det, Evaluation Protocol=UniAD protocol, Backbone=ResNet-502025.05 | 1.06 | 0.47 | 0.99 | 1.71 | 8 | 0.39 | 0.9 | 0.46 | |
| VAD–BaseAuxiliary Task=Det & Map & Motion, Evaluation Protocol=UniAD protocol, Backbone=ResNet-502025.05 | 1.22 | 0.54 | 1.15 | 1.98 | 4 | 0.39 | 1.17 | 0.53 | |
| ELMground-truth ego status=false, LLM=BLIP2-2.7B2026.06 | 1.38 | 0.34 | 1.23 | 2.57 | 12 | 50 | 2.36 | 99 | |
| FFAuxiliary Task=FreeSpace, Sensor Type=LiDAR, Backbone=ResNet-502025.05 | 1.43 | 0.55 | 1.2 | 2.54 | 6 | 0.17 | 1.07 | 0.43 | |
| NMPAuxiliary Task=Det & Motion, Sensor Type=LiDAR, Backbone=ResNet-502025.05 | 1.48 | 0.53 | 1.25 | 2.67 | 4 | 0.12 | 0.87 | 0.34 | |
| EOAuxiliary Task=FreeSpace, Sensor Type=LiDAR, Backbone=ResNet-502025.05 | 1.6 | 0.67 | 1.36 | 2.78 | 4 | 0.09 | 0.88 | 0.33 | |
| MambaBEVBackbone=ResNet50, Input Image Size=1280x720, Map Queries=2000, Agent Queries=3002024.10 | 1.77 | 1.03 | 1.76 | 2.53 | 25 | 84 | 1.72 | 93 | |
| ST–P3Auxiliary Task=Det & Map & Depth, Evaluation Protocol=VAD protocol, Backbone=ResNet-502025.05 | 2.11 | 1.33 | 2.11 | 2.9 | 23 | 0.62 | 1.27 | 0.71 | |
| ST-P3Evaluation Protocol=ST-P32026.05 | 2.11 | — | — | — | — | — | — | 71 | |
| ST-P32024.10 | 2.11 | 1.33 | 2.11 | 2.9 | 23 | 62 | 1.27 | 71 | |
| ST-P3ground-truth ego status=true2026.06 | 2.11 | 1.33 | 2.11 | 2.9 | 23 | 62 | 1.27 | 71 | |
| OccNeXtAuxiliary Task=Det & Map & Occ, Evaluation Protocol=UniAD protocol, Backbone=ResNet-1012025.05 | 2.14 | 1.29 | 2.13 | 2.99 | 21 | 0.59 | 1.37 | 0.72 | |
| OpenEMMAEvaluation Protocol=ST-P32026.05 | 2.81 | — | — | — | — | — | — | — | |
| ST–P3Auxiliary Task=Det & Map & Depth, Evaluation Protocol=UniAD protocol, Backbone=ResNet-502025.05 | 3.28 | 1.72 | 3.26 | 4.86 | 44 | 1.08 | 3.01 | 1.51 | |
| NMP2024.10 | — | — | — | 2.31 | — | — | 1.92 | — |