ResearchBenchmarksPlanning on M3CADPlanning on M3CADFollow0.221L2 ErrorQFF0.212640.269070.32550.38193May 10, 2025Evaluation resultsMethodMethodLinksL2 Error1s Avg. L2 Error (m)2s Avg. L2 Error (m)3s Avg. L2 Error (m)Avg. L2 Error (m)1s Avg. Collision Error (%)2s Avg. Collision Error (%)3s Avg. Collision Error (%)Avg. Collision Error (%)QFFmodule=Query Feature F...module=Query Feature Fusion2025.050.221————————RPFmodule=Reference Point...module=Reference Point Fusion2025.050.3————————BFFmodule=BEV Feature Fusionmodule=BEV Feature Fusion2025.050.3109————————No fusion2025.050.43————————Ego-MLP2025.05—1.022.043.062.04093013UniAD2025.05—0.340.460.580.460072