Open-loop Trajectory Prediction on nuScenes v1.0 (test)
0.13L2 Error (1s)EMMA+
Evaluation results
| Method | Links | ||||
|---|---|---|---|---|---|
| EMMA+Mode=Zero-shot2026.01 | 0.13 | 0.27 | 0.48 | 0.29 | |
| ImpromptuVLA(3B)Mode=Zero-shot2026.01 | 0.13 | 0.27 | 0.52 | 0.3 | |
| ImpromptuVLA(7B)Mode=Zero-shot2026.01 | 0.13 | 0.27 | 0.53 | 0.3 | |
| LatentVLA(iPad)Mode=Zero-shot, Backbone=iPad2026.01 | 0.13 | 0.28 | 0.56 | 0.33 | |
| OmniDriveMode=Zero-shot2026.01 | 0.14 | 0.29 | 0.55 | 0.33 | |
| EMMAMode=Zero-shot2026.01 | 0.14 | 0.29 | 0.54 | 0.32 | |
| LatentVLA(Transfuser)Mode=Zero-shot, Backbone=Transfuser2026.01 | 0.14 | 0.29 | 0.58 | 0.34 | |
| Distilled LatentVLA(iPad)Mode=Zero-shot, Backbone=iPad2026.01 | 0.14 | 0.3 | 0.6 | 0.35 | |
| Ego-MLP*Mode=Zero-shot2026.01 | 0.15 | 0.32 | 0.59 | 0.35 | |
| DriveVLM-DualMode=Zero-shot2026.01 | 0.15 | 0.29 | 0.48 | 0.31 | |
| EMMA (random init)Mode=Zero-shot2026.01 | 0.15 | 0.33 | 0.63 | 0.37 | |
| Distilled LatentVLA(Transfuser)Mode=Zero-shot, Backbone=Transfuser2026.01 | 0.15 | 0.31 | 0.62 | 0.36 | |
| BEV-PlannerMode=Zero-shot2026.01 | 0.16 | 0.32 | 0.57 | 0.35 | |
| VADMode=Zero-shot2026.01 | 0.17 | 0.34 | 0.6 | 0.37 | |
| DriveVLMMode=Zero-shot2026.01 | 0.18 | 0.34 | 0.68 | 0.4 | |
| GPT-4oMode=Zero-shot2026.01 | 0.28 | 0.93 | 2.02 | 1.07 | |
| Claude-3.7-SonnetMode=Zero-shot2026.01 | 0.28 | 0.94 | 2.04 | 1.09 | |
| Claude-3.5-SonnetMode=Zero-shot2026.01 | 0.29 | 0.98 | 2.12 | 1.13 | |
| Gemini-2.0-FlashMode=Zero-shot2026.01 | 0.31 | 1.08 | 2.36 | 1.25 | |
| Gemini-2.5-ProMode=Zero-shot2026.01 | 0.37 | 1.35 | 2.96 | 1.56 | |
| DeepSeek-VL2-28BMode=Zero-shot2026.01 | 0.37 | 1.35 | 2.96 | 1.56 | |
| UniADMode=Zero-shot2026.01 | 0.42 | 0.64 | 0.91 | 0.66 | |
| Qwen-2.5-VL-7B-InstructMode=Zero-shot2026.01 | 0.46 | 1.33 | 2.55 | 1.45 | |
| LLaMA-3.2-11B-Vision-Instruct (superscript 1)Mode=Zero-shot2026.01 | 0.52 | 1.42 | 2.68 | 1.54 | |
| DeepSeek-VL2-16BMode=Zero-shot2026.01 | 0.66 | 1.68 | 2.92 | 1.75 | |
| LLaMA-3.2-90B-Vision-InstructMode=Zero-shot2026.01 | 0.66 | 1.71 | 3.01 | 1.79 | |
| Qwen2-VL-7B-InstructMode=Zero-shot2026.01 | 1.45 | 3.21 | 3.76 | 2.81 | |
| LLaVA-1.6-Mistral-7BMode=Zero-shot2026.01 | 1.49 | 3.38 | 4.09 | 2.98 | |
| Llama-3.2-11B-Vision-Instruct (superscript 2)Mode=Zero-shot2026.01 | 1.54 | 3.31 | 3.91 | 2.92 |