Open-loop planning on nuScenes (val)
0.1L2 Error (3s)Ours-0.5B
Evaluation results
| Method | Links | |||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Ours-0.5BLLM=Qwen2.5-0.5B, Input=Visual2026.05 | 0.1 | 0.04 | 0.06 | 0.06 | 0.07 | 0.08 | 0.11 | 0.09 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| AD-MLPUsage of ego-status=true2025.03 | 0.41 | 0.2 | 0.26 | 0.29 | 0.17 | 0.18 | 0.24 | 0.19 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| AD-MLPUsage of ego-status=true2026.02 | 0.41 | 0.2 | 0.26 | 0.29 | 0.0017 | 0.0018 | 0.0024 | 0.0019 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| EgoFSD-B (PV)Protocol=SparseDrive Metrics, Backbone=ResNet1012024.09 | 0.52 | 0.12 | 0.28 | 0.3 | 0 | 0.04 | 0.15 | 0.06 | — | — | — | — | — | — | 80.5 | 12.4 | — | — | — | — | — | |
| DriveMamba-LargeUsage of ego-status=true, FPS=1.72026.02 | 0.52 | 0.16 | 0.3 | 0.33 | 0 | 0.0003 | 0.0016 | 0.0006 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DeepSight2026.05 | 0.52 | 0.16 | 0.31 | 0.33 | 0.02 | 0.07 | 0.27 | 0.12 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Impromptu-VLA-3BLLM=Qwen2.5-VL-3B, Input=Visual2026.05 | 0.52 | 0.13 | 0.27 | 0.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Impromptu-VLA-7BLLM=Qwen2.5-VL-7B, Input=Visual2026.05 | 0.53 | 0.13 | 0.27 | 0.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DriveMamba-BaseUsage of ego-status=true, FPS=6.12026.02 | 0.54 | 0.17 | 0.33 | 0.35 | 0.0002 | 0.0004 | 0.0017 | 0.0007 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| EMMALLM=Gemini, Input=Visual2026.05 | 0.54 | 0.14 | 0.29 | 0.32 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DriveTransformer-LargeUsage of ego-status=true2025.03 | 0.55 | 0.16 | 0.3 | 0.33 | 0.01 | 0.06 | 0.15 | 0.07 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DriveTransformer-LargeUsage of ego-status=true, FPS=4.52026.02 | 0.55 | 0.16 | — | 0.33 | 0.0001 | 0.0006 | 0.0015 | 0.0007 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| OminiDriveLLM=LLaVa-7B, Input=Visual2026.05 | 0.55 | 0.14 | 0.29 | 0.33 | 0 | 0.13 | 0.78 | 0.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| OpenDriveVLA-3BLLM=Qwen2.5-3B, Input=Visual2026.05 | 0.55 | 0.14 | 0.3 | 0.33 | 0.02 | 0.07 | 0.22 | 0.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| OpenDriveVLA-7BLLM=Qwen2.5-7B, Input=Visual2026.05 | 0.55 | 0.15 | 0.31 | 0.33 | 0.01 | 0.08 | 0.21 | 0.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| EgoFSD-S (PV)Protocol=SparseDrive Metrics, Backbone=ResNet502024.09 | 0.56 | 0.15 | 0.31 | 0.33 | 0 | 0.06 | 0.19 | 0.08 | — | — | — | — | — | — | 59.8 | 16.7 | — | — | — | — | — | |
| DriveMamba-SmallUsage of ego-status=true, FPS=11.12026.02 | 0.56 | 0.18 | 0.33 | 0.36 | 0.0003 | 0.0005 | 0.0017 | 0.0008 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| FSDrivebase model and experimental settings=same as DeepSight2026.05 | 0.56 | 0.27 | 0.33 | 0.35 | 0.07 | 0.1 | 0.24 | 0.14 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| BEVPlaner++Usage of ego-status=true2025.03 | 0.57 | 0.16 | 0.32 | 0.35 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| BEV-Planner++Ego Status in BEV=true, Ego Status in Planner=true2023.12 | 0.57 | 0.16 | 0.32 | 0.35 | 0 | 0.29 | 0.73 | 0.34 | — | — | 0.35 | 2.62 | 6.51 | 3.16 | — | — | — | — | — | — | — | |
| BEVPlanner++Usage of ego-status=true2026.02 | 0.57 | 0.16 | 0.32 | 0.35 | 0 | 0.0029 | 0.0073 | 0.0034 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| OpenDriveVLA-0.5BLLM=Qwen2.5-0.5B, Input=Visual2026.05 | 0.57 | 0.15 | 0.32 | 0.35 | 0.01 | 0.06 | 0.2 | 0.09 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Ego-MLPEgo Status in Planner=true2023.12 | 0.59 | 0.15 | 0.32 | 0.35 | 0 | 0.27 | 0.85 | 0.37 | — | — | 0.27 | 2.52 | 6.6 | 2.93 | — | — | — | — | — | — | — | |
| EgoFSD-S (BEV)Protocol=ST-P3 Metrics, Backbone=ResNet502024.09 | 0.59 | 0.16 | 0.33 | 0.35 | 0 | 0.04 | 0.18 | 0.07 | — | — | — | — | — | — | 67.7 | 14.8 | — | — | — | — | — | |
| EgoFSD-S (BEV)Protocol=SparseDrive Metrics, Backbone=ResNet502024.09 | 0.59 | 0.16 | 0.33 | 0.35 | 0.03 | 0.07 | 0.21 | 0.1 | — | — | — | — | — | — | 67.7 | 14.8 | — | — | — | — | — | |
| DriveMamba-TinyUsage of ego-status=true, FPS=17.92026.02 | 0.59 | 0.19 | 0.35 | 0.38 | 0.0007 | 0.0009 | 0.0024 | 0.0013 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| VAD-BaseUsage of ego-status=true2025.03 | 0.6 | 0.17 | 0.34 | 0.37 | 0.07 | 0.1 | 0.24 | 0.14 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| VAD-BaseLiDAR-based=false, Ego status information input=true, Latency (ms)=224.3, FPS=4.52023.03 | 0.6 | 0.17 | 0.34 | 0.37 | 0.07 | 0.1 | 0.24 | 0.14 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| VAD-BaseEgo Status in BEV=true, Ego Status in Planner=true, ckpt. source=Official2023.12 | 0.6 | 0.17 | 0.34 | 0.37 | 0.04 | 0.27 | 0.67 | 0.33 | — | — | 0.21 | 2.13 | 5.06 | 2.47 | — | — | — | — | — | — | — | |
| VADInput=Visual2026.05 | 0.6 | 0.17 | 0.34 | 0.37 | 0.07 | 0.1 | 0.24 | 0.14 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Agent-Driver2026.02 | 0.61 | 0.16 | 0.34 | 0.37 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DriveMamba-LargeUsage of ego-status=false, FPS=1.72026.02 | 0.62 | 0.21 | 0.38 | 0.4 | 0.0001 | 0.0004 | 0.0021 | 0.0009 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SteerVLAHigh-level planner=Gemma-3 4B, Low-level policy=PaliGemma, Execution rate=2 Hz2026.02 | 0.63 | 0.18 | 0.39 | 0.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DriveMamba-BaseUsage of ego-status=false, FPS=6.12026.02 | 0.63 | 0.22 | 0.4 | 0.41 | 0.0005 | 0.0006 | 0.0021 | 0.0011 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DriveMamba-SmallUsage of ego-status=false, FPS=11.12026.02 | 0.64 | 0.23 | 0.4 | 0.42 | 0.0006 | 0.0007 | 0.0022 | 0.0012 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| VAD-TinyUsage of ego-status=true2025.03 | 0.65 | 0.2 | 0.38 | 0.41 | 0.1 | 0.12 | 0.27 | 0.16 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| VAD-TinyLiDAR-based=false, Ego status information input=true, Latency (ms)=59.5, FPS=16.82023.03 | 0.65 | 0.2 | 0.38 | 0.41 | 0.1 | 0.12 | 0.27 | 0.16 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| UMPEBackbone=VAD2026.05 | 0.65 | 0.21 | 0.39 | 0.42 | 0.03 | 0.08 | 0.25 | 0.12 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DriveTransformer-Large2025.03 | 0.66 | 0.19 | 0.34 | 0.4 | 0.03 | 0.1 | 0.21 | 0.11 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DriveMamba-TinyUsage of ego-status=false, FPS=17.92026.02 | 0.66 | 0.25 | 0.42 | 0.44 | 0.0012 | 0.0009 | 0.0024 | 0.0015 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DriveTransformer-SmallUsage of ego-status=true, FPS=10.72026.02 | 0.66 | 0.19 | 0.33 | 0.39 | 0.0001 | 0.0007 | 0.0021 | 0.001 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| BEV-Planner+Ego Status in BEV=true, Ego Status in Planner=false2023.12 | 0.68 | 0.28 | 0.42 | 0.46 | 0.04 | 0.37 | 1.07 | 0.49 | — | — | 0.7 | 3.77 | 8.15 | 4.21 | — | — | — | — | — | — | — | |
| InsightDriveInput=Visual2026.05 | 0.68 | 0.23 | 0.41 | 0.44 | 0.09 | 0.1 | 0.27 | 0.15 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DriveVLMLLM=Qwen-VL-7B, Input=Visual2026.05 | 0.68 | 0.18 | 0.34 | 0.4 | 0.1 | 0.22 | 0.45 | 0.27 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| FUMPInput=Camera, Backbone=ResNet50, FPS=5.9 (RTX4090)2025.04 | 0.69 | 0.16 | 0.38 | 0.39 | 0.01 | 0.03 | 0.14 | 0.06 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GPVLLLM=BERT, Input=Textual2026.05 | 0.69 | 0.21 | 0.39 | 0.43 | 0.07 | 0.09 | 0.27 | 0.14 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RDA-DriverLLM=LLaVa-7B, Input=Visual2026.05 | 0.69 | 0.17 | 0.37 | 0.4 | 0.01 | 0.05 | 0.26 | 0.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GPT-Driver2026.02 | 0.7 | 0.2 | 0.4 | 0.44 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GPT-DriverLLM=GPT-3.5, Input=Textual2026.05 | 0.7 | 0.2 | 0.4 | 0.44 | 0.04 | 0.12 | 0.36 | 0.17 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ParaDriveUsage of ego-status=true2025.03 | 0.74 | 0.25 | 0.46 | 0.48 | 0.14 | 0.23 | 0.39 | 0.25 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ParaDriveUsage of ego-status=true, FPS=4.22026.02 | 0.74 | 0.25 | 0.46 | 0.48 | 0.0014 | 0.0023 | 0.0039 | 0.0025 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Vector EncBackbone=VAD2026.05 | 0.74 | 0.25 | 0.45 | 0.48 | 0.09 | 0.11 | 0.31 | 0.17 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| UniADEgo Status in BEV=true, Ego Status in Planner=true, ckpt. source=Reproduce2023.12 | 0.75 | 0.2 | 0.42 | 0.46 | 0.02 | 0.25 | 0.84 | 0.37 | — | — | 0.2 | 1.33 | 3.24 | 1.59 | — | — | — | — | — | — | — | |
| LawInput=Camera, Backbone=Swin-T2026.05 | 0.76 | 0.24 | 0.46 | 0.49 | 0.08 | 0.1 | 0.39 | 0.19 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| VLP-VADSLP=true, ALP=false2024.01 | 0.78 | 0.26 | 0.47 | 0.5 | 0.12 | 0.17 | 0.42 | 0.23 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GenAD2026.05 | 0.78 | 0.28 | 0.49 | 0.52 | 0.08 | 0.14 | 0.34 | 0.19 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| World4Drive2026.05 | 0.81 | 0.23 | 0.47 | 0.5 | 0.02 | 0.12 | 0.33 | 0.16 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| BEV-PlannerEgo Status in BEV=false, Ego Status in Planner=false, utilize historical temporal information=true2023.12 | 0.83 | 0.3 | 0.52 | 0.55 | 0.1 | 0.37 | 1.3 | 0.59 | — | — | 0.78 | 3.79 | 8.22 | 4.26 | — | — | — | — | — | — | — | |
| Raster EncBackbone=VAD2026.05 | 0.83 | 0.28 | 0.53 | 0.55 | 0.09 | 0.13 | 0.35 | 0.19 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| VLP-VADSLP=true, ALP=true2024.01 | 0.84 | 0.3 | 0.53 | 0.55 | 0.01 | 0.07 | 0.38 | 0.15 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GaussianADInput=Camera, Auxiliary Supervision=3D-Occ & Map & Box & Motion2025.11 | 0.88 | 0.4 | 0.64 | 0.64 | 0.09 | 0.38 | 0.81 | 0.42 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SparseWorld-VInput=Camera, Backbone=ResNet502026.05 | 0.88 | 0.32 | 0.56 | 0.59 | 0.08 | 0.18 | 0.46 | 0.24 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| HE-DriveInput=Camera, Backbone=Llama3.2V, FPS=10.0 (RTX4090)2025.04 | 0.89 | 0.3 | 0.56 | 0.58 | 0 | 0.03 | 0.14 | 0.06 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| BEVPlaner2025.03 | 0.9 | 0.27 | 0.54 | 0.57 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| BEV-Planner*Ego Status in BEV=false, Ego Status in Planner=false, utilize historical temporal information=false2023.12 | 0.9 | 0.27 | 0.54 | 0.57 | 0.04 | 0.35 | 1.8 | 0.73 | — | — | 0.63 | 3.38 | 7.93 | 3.98 | — | — | — | — | — | — | — | |
| BEVPlannerUsage of ego-status=false2026.02 | 0.9 | 0.27 | 0.54 | 0.57 | 0.0004 | 0.0035 | 0.018 | 0.0073 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| BEVPlanner2026.05 | 0.9 | 0.27 | 0.54 | 0.57 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DiffusionDrive2026.05 | 0.9 | 0.27 | 0.54 | 0.57 | 0.03 | 0.05 | 0.16 | 0.08 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MomADInput=Camera, Backbone=ResNet50, FPS=7.8 (RTX4090)2025.04 | 0.91 | 0.31 | 0.57 | 0.6 | 0.01 | 0.05 | 0.22 | 0.09 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SparseDrive-B2024.05 | 0.91 | 0.29 | 0.55 | 0.58 | 0.01 | 0.02 | 0.13 | 0.06 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SparseDrive-BProtocol=SparseDrive Metrics, Backbone=ResNet1012024.09 | 0.91 | 0.29 | 0.55 | 0.58 | 0.01 | 0.02 | 0.13 | 0.06 | — | — | — | — | — | — | 137 | 7.3 | — | — | — | — | — | |
| SparseDrive-BUsage of ego-status=true, FPS=7.32026.02 | 0.91 | 0.29 | 0.55 | 0.58 | 0.0001 | 0.0002 | 0.0013 | 0.0006 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MomAD2026.05 | 0.91 | 0.31 | 0.57 | 0.6 | 0.01 | 0.05 | 0.22 | 0.09 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MomADInput=Camera, Backbone=ResNet502026.05 | 0.91 | 0.31 | 0.57 | 0.6 | 0.01 | 0.05 | 0.22 | 0.09 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| BridgeAD-SFPS=5.02025.03 | 0.92 | 0.29 | 0.57 | 0.59 | 0.01 | 0.05 | 0.22 | 0.09 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| BridgeAD-BFPS=3.92025.03 | 0.92 | 0.28 | 0.55 | 0.58 | 0 | 0.04 | 0.2 | 0.08 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GaussianADInput=Camera, Auxiliary Supervision=3D-Occ & Map & Box2025.11 | 0.92 | 0.4 | 0.66 | 0.66 | 0.49 | 0.38 | 0.61 | 0.49 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| BridgeAD2026.05 | 0.92 | 0.29 | 0.57 | 0.59 | 0.01 | 0.05 | 0.22 | 0.09 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SATPBackbone=VAD2026.05 | 0.94 | 0.39 | 0.62 | 0.65 | 0.14 | 0.21 | 0.42 | 0.26 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SparseDrive-SProtocol=ST-P3 Metrics, Backbone=ResNet50, Reproduced=true2024.09 | 0.95 | 0.3 | 0.58 | 0.61 | 0.47 | 0.47 | 0.69 | 0.54 | — | — | — | — | — | — | 111.1 | 9 | — | — | — | — | — | |
| SparseDriveReference=arXiv 2024, FPS=6.1, Official Checkpoint=true2025.03 | 0.95 | 0.3 | 0.58 | 0.61 | 0.01 | 0.05 | 0.23 | 0.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SparseDriveInput=Camera, Backbone=ResNet50, FPS=9.0 (RTX4090), reproduced_with_official_checkpoint=true2025.04 | 0.96 | 0.29 | 0.58 | 0.61 | 0.01 | 0.05 | 0.18 | 0.08 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SparseDrive-S2024.05 | 0.96 | 0.29 | 0.58 | 0.61 | 0.01 | 0.05 | 0.18 | 0.08 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SparseDrive-SProtocol=SparseDrive Metrics, Backbone=ResNet502024.09 | 0.96 | 0.29 | 0.58 | 0.61 | 0.01 | 0.05 | 0.18 | 0.08 | — | — | — | — | — | — | 111.1 | 9 | — | — | — | — | — | |
| SparseDrive2026.05 | 0.96 | 0.29 | 0.58 | 0.61 | 0.01 | 0.05 | 0.18 | 0.08 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| UniADInput=Visual2026.05 | 0.96 | 0.44 | 0.67 | 0.69 | 0.04 | 0.08 | 0.23 | 0.12 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SparseDrive-SInput=Camera, Backbone=ResNet502026.05 | 0.96 | 0.29 | 0.58 | 0.61 | 0.01 | 0.05 | 0.18 | 0.08 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| BevFormer+Occ-LLMInput=Camera, Auxiliary Supervision=3D-occ2025.11 | 0.98 | 0.26 | 0.67 | 0.64 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| UniADEgo Status in BEV=true, Ego Status in Planner=false, ckpt. source=Official2023.12 | 0.99 | 0.35 | 0.63 | 0.66 | 0.16 | 0.43 | 1.27 | 0.62 | — | — | 0.21 | 1.32 | 3.63 | 1.72 | — | — | — | — | — | — | — | |
| DiMA+ (VAD-Base)Using Ego status=true2025.01 | 1.01 | 0.18 | 0.48 | 0.56 | 0 | 0.05 | 0.16 | 0.07 | — | — | — | — | — | — | — | — | 0.46 | 0.06 | — | — | — | |
| DiMA-VAD2026.02 | 1.01 | 0.18 | 0.48 | 0.56 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| WPT-TeacherInput=Camera, Auxiliary Supervision=4D-Occ2025.11 | 1.01 | 0.25 | 0.58 | 0.61 | 0.16 | 0.08 | 0.1 | 0.11 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| LAW2026.05 | 1.01 | 0.26 | 0.57 | 0.61 | 0.14 | 0.21 | 0.54 | 0.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SparseWorld-SInput=Camera, Backbone=ResNet502026.05 | 1.01 | 0.33 | 0.62 | 0.65 | 0 | 0.01 | 0.13 | 0.05 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DIMA (VAD-Base)Using Ego status=false2025.01 | 1.02 | 0.18 | 0.5 | 0.57 | 0 | 0.05 | 0.16 | 0.07 | — | — | — | — | — | — | — | — | 0.47 | 0.06 | — | — | — | |
| DiMA-Dual+ (VAD-Tiny)Using Ego status=true2025.01 | 1.03 | 0.18 | 0.5 | 0.57 | 0 | 0.05 | 0.16 | 0.08 | — | — | — | — | — | — | — | — | 0.47 | 0.06 | — | — | — | |
| UniADInput=Camera, Backbone=ResNet101, FPS=1.8 (A100)2025.04 | 1.04 | 0.45 | 0.7 | 0.73 | 0.62 | 0.58 | 0.63 | 0.61 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| UniAD2024.05 | 1.04 | 0.45 | 0.7 | 0.73 | 0.62 | 0.58 | 0.63 | 0.61 | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| UniADProtocol=SparseDrive Metrics, Backbone=ResNet101-DCN, Reproduced=true2024.09 | 1.04 | 0.45 | 0.7 | 0.73 | 0.62 | 0.58 | 0.63 | 0.61 | — | — | — | — | — | — | 555.6 | 1.8 | — | — | — | — | — | |
| PARA-Drive+Using Ego status=true2025.01 | 1.04 | 0.2 | 0.52 | 0.59 | 0 | 0.09 | 0.49 | 0.19 | — | — | — | — | — | — | — | — | 0.49 | 0.13 | — | — | — |