Planning on NavSim (Navhard)
97.8NCForgeDrive
Evaluation results
| Method | Links | ||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|
| ForgeDriveStage=12026.06 | 97.8 | 94.9 | 99.1 | 99.3 | 83.7 | 95.8 | 96.9 | 97.8 | 77.8 | 34.8 | |
| Hydra-MDPprotocol=stage-1-only, Backbone=V2-992026.05 | 97.6 | 96.4 | 99.2 | 99.3 | 80.2 | 96.9 | 94.9 | 97.8 | 58.7 | 73.1 | |
| WoTEprotocol=stage-1-only2026.05 | 97.4 | 88.2 | 97.8 | 99.3 | 82.7 | 96.4 | 90.9 | 97.3 | 68 | 66.7 | |
| DriveLaWStage=12026.06 | 97.3 | 89.1 | 99.2 | 99.6 | 84.3 | 97.1 | 96.2 | 97.8 | 67.6 | 30.6 | |
| IDOLprotocol=stage-1-only2026.05 | 97.2 | 89.6 | 98 | 99.6 | 82.3 | 96.9 | 95.3 | 97.6 | 72.9 | 76.2 | |
| DiffusionDriveStage=12026.06 | 96.8 | 86 | 98.8 | 99.3 | 84 | 95.8 | 96.7 | 97.6 | 79.6 | 27.5 | |
| TransFuserprotocol=stage-1-only2026.05 | 96.3 | 74.6 | 98.4 | 99.3 | 82.9 | 93.7 | 92.7 | 97.5 | 78.2 | 60.5 | |
| LTFprotocol=stage-1-only2026.05 | 96.2 | 79.5 | 99.1 | 99.5 | 84.1 | 95.1 | 94.2 | 97.5 | 79.1 | 62.3 | |
| MindDriveStage=12026.06 | 96.1 | 86 | 98.8 | 99.3 | 83.3 | 95.6 | 94.4 | 97.6 | 74.7 | 30.5 | |
| DiffusionDriveprotocol=stage-1-only2026.05 | 95.9 | 84 | 98.6 | 99.8 | 84.4 | 96 | 95.1 | 97.6 | 71.1 | 63.2 | |
| GTRS-DenseBackbone=EVA-ViT-L, H-Demo=true2025.10 | 91.9 | 91.3 | 92.7 | 99 | 72.7 | 90.4 | 53.8 | 94.1 | 41.6 | — | |
| ZTRSBackbone=ResNet34, H-Demo=false2025.10 | 91.8 | 88.3 | 96.2 | 98.9 | 54.6 | 90.2 | 56.4 | 98.2 | 63 | — | |
| GTRS-DenseBackbone=V2-99, H-Demo=true2025.10 | 91.4 | 89.2 | 94.4 | 98.8 | 69.5 | 90.1 | 54.6 | 94.1 | 49.7 | — | |
| ZTRSBackbone=EVA-ViT-L, H-Demo=false2025.10 | 91.2 | 94.4 | 96.3 | 98.7 | 59.4 | 90.5 | 57.3 | 97.5 | 63 | — | |
| ZTRSBackbone=V2-99, H-Demo=false2025.10 | 91.1 | 90.4 | 95.8 | 99 | 63.6 | 89.8 | 60.4 | 97.6 | 66.1 | — | |
| DriveSuprimBackbone=EVA-ViT-L, H-Demo=true2025.10 | 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 | — | |
| DriveSuprimBackbone=V2-99, H-Demo=true2025.10 | 87.9 | 88.8 | 89.6 | 98.8 | 80.3 | 86 | 53.5 | 97.1 | 56.1 | — | |
| MindDriveStage=22026.06 | 82.6 | 79.1 | 86.4 | 98 | 85.3 | 79.4 | 49.2 | 96.5 | 71 | 30.5 | |
| DriveLaWStage=22026.06 | 82.5 | 67.6 | 83.5 | 98.1 | 84.8 | 78.5 | 45.8 | 96.4 | 57.3 | 30.6 | |
| ForgeDriveStage=22026.06 | 81.5 | 70.9 | 84.7 | 98.7 | 84.2 | 77.5 | 49.9 | 96.6 | 68.6 | 34.8 | |
| DiffusionDriveStage=22026.06 | 80.1 | 72.8 | 84.4 | 98.4 | 85.9 | 76.6 | 46.4 | 96.3 | 72.8 | 27.5 | |
| DiffusionDriveBackbone=ResNet34, H-Demo=true2025.10 | 80.1 | 72.8 | 84.4 | 98.4 | 85.9 | 76.6 | 46.4 | 96.3 | 72.8 | — | |
| LTFBackbone=ResNet34, H-Demo=true2025.10 | 79.4 | 69 | 85.6 | 98.5 | 83.8 | 76.7 | 47.9 | 97 | 70.6 | — | |
| DriveSuprimBackbone=V2-99, Scorer=Y, Stage=Stage 12025.11 | 0.989 | 0.951 | 0.992 | 0.996 | 0.761 | 0.991 | 0.947 | 0.976 | 0.542 | — | |
| GuideFlow + ScorerBackbone=ResNet34, Scorer=Y, Stage=Stage 12025.11 | 0.988 | 0.955 | 0.991 | 0.995 | 0.76 | 0.991 | 0.944 | 0.975 | 0.524 | — | |
| GTRS-DenseBackbone=V2-99, Scorer=Y, Stage=Stage 12025.11 | 0.987 | 0.958 | 0.994 | 0.993 | 0.728 | 0.987 | 0.951 | 0.969 | 0.404 | — | |
| GuideFlow + Scorer†Backbone=ResNet34, Scorer=Y, Stage=Stage 12025.11 | 0.978 | 0.971 | 1 | 1 | 0.814 | 0.985 | 0.914 | 0.928 | 0.342 | — | |
| GuideFlowBackbone=ResNet34, Scorer=N, Stage=Stage 12025.11 | 0.966 | 0.805 | 0.963 | 0.993 | 0.823 | 0.949 | 0.915 | 0.977 | 0.678 | — | |
| LTFBackbone=ResNet34, Scorer=N, Stage=Stage 12025.11 | 0.962 | 0.795 | 0.991 | 0.995 | 0.841 | 0.951 | 0.942 | 0.975 | 0.791 | — | |
| DiffusionDrive*Backbone=ResNet34, Scorer=N, Stage=Stage 12025.11 | 0.96 | 0.797 | 0.974 | 0.995 | 0.813 | 0.931 | 0.908 | 0.968 | 0.738 | — | |
| DiffVLABackbone=Vicuna-v1.5, Scorer=Y, Stage=Stage 12025.11 | 0.957 | 0.992 | 1 | 1 | 0.859 | 0.964 | 0.971 | 0.95 | 0.842 | — | |
| GTRS-DP*Backbone=ResNet34, Scorer=N, Stage=Stage 12025.11 | 0.947 | 0.788 | 0.961 | 0.995 | 0.83 | 0.944 | 0.92 | 0.975 | 0.728 | — | |
| GTRS-DenseBackbone=V2-99, Scorer=Y, Stage=Stage 22025.11 | 0.914 | 0.892 | 0.944 | 0.988 | 0.695 | 0.901 | 0.546 | 0.941 | 0.497 | 41.7 | |
| GuideFlow + ScorerBackbone=ResNet34, Scorer=Y, Stage=Stage 22025.11 | 0.888 | 0.894 | 0.894 | 0.988 | 0.803 | 0.867 | 0.529 | 0.969 | 0.569 | 43 | |
| DriveSuprimBackbone=V2-99, Scorer=Y, Stage=Stage 22025.11 | 0.879 | 0.888 | 0.896 | 0.988 | 0.803 | 0.86 | 0.535 | 0.971 | 0.561 | 42.1 | |
| GuideFlowBackbone=ResNet34, Scorer=N, Stage=Stage 22025.11 | 0.873 | 0.767 | 0.888 | 0.992 | 0.843 | 0.851 | 0.497 | 0.931 | 0.445 | 27.1 | |
| GuideFlow + Scorer†Backbone=ResNet34, Scorer=Y, Stage=Stage 22025.11 | 0.873 | 0.923 | 0.98 | 0.969 | 0.758 | 0.855 | 0.593 | 0.954 | 0.535 | 46.7 | |
| DiffusionDrive*Backbone=ResNet34, Scorer=N, Stage=Stage 22025.11 | 0.821 | 0.722 | 0.885 | 0.987 | 0.851 | 0.788 | 0.492 | 0.893 | 0.712 | 24.2 | |
| DiffVLABackbone=Vicuna-v1.5, Scorer=Y, Stage=Stage 22025.11 | 0.812 | 0.888 | 0.946 | 0.99 | 0.86 | 0.764 | 0.598 | 0.986 | 0.804 | 45 | |
| GTRS-DP*Backbone=ResNet34, Scorer=N, Stage=Stage 22025.11 | 0.803 | 0.744 | 0.849 | 0.98 | 0.819 | 0.788 | 0.454 | 0.967 | 0.701 | 23.8 | |
| LTFBackbone=ResNet34, Scorer=N, Stage=Stage 22025.11 | 0.777 | 0.702 | 0.842 | 0.98 | 0.851 | 0.756 | 0.454 | 0.957 | 0.759 | 23.1 |