Planning on NavSim (Navhard)

97.8NCForgeDrive

Evaluation Results

Method
ForgeDrive2026.06	97.8	94.9	99.1	99.3	83.7	95.8	96.9	97.8	77.8	34.8
Hydra-MDP2026.05	97.6	96.4	99.2	99.3	80.2	96.9	94.9	97.8	58.7	73.1
WoTE2026.05	97.4	88.2	97.8	99.3	82.7	96.4	90.9	97.3	68	66.7
DriveLaW2026.06	97.3	89.1	99.2	99.6	84.3	97.1	96.2	97.8	67.6	30.6
IDOL2026.05	97.2	89.6	98	99.6	82.3	96.9	95.3	97.6	72.9	76.2
DiffusionDrive2026.06	96.8	86	98.8	99.3	84	95.8	96.7	97.6	79.6	27.5
TransFuser2026.05	96.3	74.6	98.4	99.3	82.9	93.7	92.7	97.5	78.2	60.5
LTF2026.05	96.2	79.5	99.1	99.5	84.1	95.1	94.2	97.5	79.1	62.3
MindDrive2026.06	96.1	86	98.8	99.3	83.3	95.6	94.4	97.6	74.7	30.5
DiffusionDrive2026.05	95.9	84	98.6	99.8	84.4	96	95.1	97.6	71.1	63.2
GTRS-Dense2025.10	91.9	91.3	92.7	99	72.7	90.4	53.8	94.1	41.6	—
ZTRS2025.10	91.8	88.3	96.2	98.9	54.6	90.2	56.4	98.2	63	—
GTRS-Dense2025.10	91.4	89.2	94.4	98.8	69.5	90.1	54.6	94.1	49.7	—
ZTRS2025.10	91.2	94.4	96.3	98.7	59.4	90.5	57.3	97.5	63	—
ZTRS2025.10	91.1	90.4	95.8	99	63.6	89.8	60.4	97.6	66.1	—
DriveSuprim2025.10	89.5	89.6	92.9	98.5	78.9	86.4	55.3	96.5	52.7	—
PDM-Closed2025.10	88.1	90.6	96.3	98.5	100	83.1	73.7	91.5	25.4	—
DriveSuprim2025.10	87.9	88.8	89.6	98.8	80.3	86	53.5	97.1	56.1	—
MindDrive2026.06	82.6	79.1	86.4	98	85.3	79.4	49.2	96.5	71	30.5
DriveLaW2026.06	82.5	67.6	83.5	98.1	84.8	78.5	45.8	96.4	57.3	30.6
ForgeDrive2026.06	81.5	70.9	84.7	98.7	84.2	77.5	49.9	96.6	68.6	34.8
DiffusionDrive2026.06	80.1	72.8	84.4	98.4	85.9	76.6	46.4	96.3	72.8	27.5
DiffusionDrive2025.10	80.1	72.8	84.4	98.4	85.9	76.6	46.4	96.3	72.8	—
LTF2025.10	79.4	69	85.6	98.5	83.8	76.7	47.9	97	70.6	—
DriveSuprim2025.11	0.989	0.951	0.992	0.996	0.761	0.991	0.947	0.976	0.542	—
GuideFlow + Scorer2025.11	0.988	0.955	0.991	0.995	0.76	0.991	0.944	0.975	0.524	—
GTRS-Dense2025.11	0.987	0.958	0.994	0.993	0.728	0.987	0.951	0.969	0.404	—
GuideFlow + Scorer†2025.11	0.978	0.971	1	1	0.814	0.985	0.914	0.928	0.342	—
GuideFlow2025.11	0.966	0.805	0.963	0.993	0.823	0.949	0.915	0.977	0.678	—
LTF2025.11	0.962	0.795	0.991	0.995	0.841	0.951	0.942	0.975	0.791	—
DiffusionDrive*2025.11	0.96	0.797	0.974	0.995	0.813	0.931	0.908	0.968	0.738	—
DiffVLA2025.11	0.957	0.992	1	1	0.859	0.964	0.971	0.95	0.842	—
GTRS-DP*2025.11	0.947	0.788	0.961	0.995	0.83	0.944	0.92	0.975	0.728	—
GTRS-Dense2025.11	0.914	0.892	0.944	0.988	0.695	0.901	0.546	0.941	0.497	41.7
GuideFlow + Scorer2025.11	0.888	0.894	0.894	0.988	0.803	0.867	0.529	0.969	0.569	43
DriveSuprim2025.11	0.879	0.888	0.896	0.988	0.803	0.86	0.535	0.971	0.561	42.1
GuideFlow2025.11	0.873	0.767	0.888	0.992	0.843	0.851	0.497	0.931	0.445	27.1
GuideFlow + Scorer†2025.11	0.873	0.923	0.98	0.969	0.758	0.855	0.593	0.954	0.535	46.7
DiffusionDrive*2025.11	0.821	0.722	0.885	0.987	0.851	0.788	0.492	0.893	0.712	24.2
DiffVLA2025.11	0.812	0.888	0.946	0.99	0.86	0.764	0.598	0.986	0.804	45
GTRS-DP*2025.11	0.803	0.744	0.849	0.98	0.819	0.788	0.454	0.967	0.701	23.8
LTF2025.11	0.777	0.702	0.842	0.98	0.851	0.756	0.454	0.957	0.759	23.1