Open-loop Planning on Waymo
0.21L2 Error (1s)BEVPlaner++
Evaluation Results
| Method | Links | ||||
|---|---|---|---|---|---|
| BEVPlaner++Train Data=nuScenes, NAVSIM, Waymo, Use perception annotations=false2026.05 | 0.21 | 0.53 | 0.99 | 0.58 | |
| HEATTrain Data=nuScenes, NAVSIM, Waymo, Use perception annotations=false2026.05 | 0.26 | 0.63 | 1.16 | 0.68 | |
| BEVPlaner++Train Data=nuScenes, Use perception annotations=false2026.05 | 0.47 | 1 | 1.67 | 1.05 | |
| LTFTrain Data=nuScenes, Use perception annotations=false2026.05 | 0.72 | 1.28 | 1.99 | 1.33 | |
| LTFTrain Data=nuScenes, NAVSIM, Waymo, Use perception annotations=false2026.05 | 1.38 | 3.73 | 6.23 | 3.78 | |
| LAWTrain Data=nuScenes, NAVSIM, Waymo, Use perception annotations=false2026.05 | 1.42 | 2.44 | 3.52 | 2.46 | |
| BEVPlanerTrain Data=nuScenes, NAVSIM, Waymo, Use perception annotations=false2026.05 | 2.05 | 3.48 | 4.96 | 3.5 | |
| BEVPlanerTrain Data=nuScenes, Use perception annotations=false2026.05 | 2.25 | 3.76 | 5.29 | 3.77 | |
| VAD-TinyTrain Data=nuScenes, Use perception annotations=true2026.05 | 2.48 | 4.23 | 6.03 | 4.25 | |
| UniADTrain Data=nuScenes, Use perception annotations=true2026.05 | 2.97 | 5.87 | 11.55 | 6.8 | |
| DiffusionDriveTrain Data=nuScenes, Use perception annotations=true2026.05 | 3.31 | 5.36 | 7.35 | 5.34 | |
| VAD-BaseTrain Data=nuScenes, Use perception annotations=true2026.05 | 3.48 | 6.1 | 8.91 | 6.16 | |
| SparseDriveTrain Data=nuScenes, Use perception annotations=true2026.05 | 3.48 | 5.62 | 7.64 | 5.58 | |
| HEATTrain Data=nuScenes, Use perception annotations=false2026.05 | 3.74 | 6.02 | 8.76 | 6.17 | |
| ST-P3Train Data=nuScenes, Use perception annotations=true2026.05 | 3.76 | 6.27 | 9.72 | 6.58 | |
| LAWTrain Data=nuScenes, Use perception annotations=false2026.05 | 4.02 | 6.67 | 9.31 | 6.67 |