Open-loop trajectory planning on DAIR-V2X-Seq (val)
0.45L2 Error (1s)OmniV2X
Evaluation results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| OmniV2XMethod Category=Ours, V2X Message Type=SDSM, Transmission Cost (BPS)=1,408, Map Usage=false2026.06 | 0.45 | 0.83 | 1.29 | 0.86 | 0.06 | 88.33 | |
| OmniV2X (w/ Map)Method Category=Ours, V2X Message Type=SDSM & MAP, Transmission Cost (BPS)=25,792, Map Usage=true2026.06 | 0.45 | 0.83 | 1.3 | 0.86 | 0.01 | 89.87 | |
| UniMM-V2XMethod Category=Coop V2X, V2X Message Type=Queries & Occ., Transmission Cost (BPS)=9.32 × 10⁵, Map Usage=false2026.06 | 0.78 | 1.63 | 2.05 | 1.49 | 0.12 | — | |
| SparseDriveMethod Category=Ego-Only, V2X Message Type=—, Transmission Cost (BPS)=—, Map Usage=false2026.06 | 1.02 | 1.69 | 2.37 | 1.69 | 0.99 | — | |
| UniADMethod Category=Ego-Only, V2X Message Type=—, Transmission Cost (BPS)=—, Map Usage=false2026.06 | 1.26 | 2.22 | 3.06 | 2.18 | 1.13 | — | |
| UniV2XMethod Category=Coop V2X, V2X Message Type=Queries & Occ., Transmission Cost (BPS)=8.09 × 10⁵, Map Usage=false2026.06 | 1.45 | 2.19 | 3.04 | 2.23 | 0.25 | — | |
| VADMethod Category=Ego-Only, V2X Message Type=—, Transmission Cost (BPS)=—, Map Usage=false2026.06 | 1.65 | 2.72 | 3.8 | 2.72 | 1.12 | — | |
| V2VNetMethod Category=Coop V2X, V2X Message Type=BEV Features, Transmission Cost (BPS)=8.19 × 10⁷, Map Usage=false2026.06 | 1.96 | 2.37 | 3.41 | 2.58 | 0.88 | — | |
| CooperNautMethod Category=Coop V2X, V2X Message Type=BEV Features, Transmission Cost (BPS)=8.19 × 10⁷, Map Usage=false2026.06 | 2.69 | 4.07 | 5.5 | 4.09 | 1.42 | — |