Planning on nuPlan 14 Hard (test)
94.03Average ScoreLog-replay
Evaluation results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| Log-replayType=Expert, Evaluation Protocol=Non-reactive (NR)2026.06 | 94.03 | — | — | — | — | |
| Log ReplayType=Expert2024.09 | 84.9 | 100 | 86 | 68.8 | — | |
| SDD Planner2026.02 | 80.32 | — | — | — | — | |
| PLUTO2026.02 | 80.12 | — | — | — | — | |
| DFP (ours) †Type=Learning-based, Evaluation Protocol=Non-reactive (NR), components=Flow Matching + Mixture-of-Transformer2026.06 | 79.43 | — | — | — | — | |
| DFP (ours)Type=Learning-based, Evaluation Protocol=Non-reactive (NR)2026.06 | 76.91 | — | — | — | — | |
| CoPlannerType=Learning-based, Evaluation Protocol=Non-reactive (NR)2026.06 | 76.82 | — | — | — | — | |
| BeTopNetType=Learning2024.09 | 76.6 | 84 | 77.1 | 68.8 | — | |
| Flow PlannerType=Learning-based, Evaluation Protocol=Non-reactive (NR)2026.06 | 76.47 | — | — | — | — | |
| Diffusion PlannerType=Learning-based, Evaluation Protocol=Non-reactive (NR)2026.06 | 75.99 | — | — | — | — | |
| Log-replayType=Expert, Evaluation Protocol=Reactive (R)2026.06 | 75.86 | — | — | — | — | |
| Diffusion Planner *Type=Learning-based, Evaluation Protocol=Non-reactive (NR), reproduced=true2026.06 | 74.26 | — | — | — | — | |
| PlanTFType=Learning2024.09 | 72.5 | 83.3 | 72.6 | 61.7 | — | |
| PDM-HybridType=Hybrid2024.09 | 71.9 | 73.8 | 66 | 75.8 | — | |
| PLUTORefinement=None2026.02 | 70.74 | — | — | — | — | |
| Flow PlannerType=Learning-based, Evaluation Protocol=Reactive (R)2026.06 | 70.42 | — | — | — | — | |
| GameFormerType=Hybrid2024.09 | 70.2 | 75.3 | 66.6 | 68.8 | — | |
| PLUTOType=Learning-based, Evaluation Protocol=Non-reactive (NR)2026.06 | 70.03 | — | — | — | — | |
| PlanTFType=Learning-based, Evaluation Protocol=Non-reactive (NR)2026.06 | 69.7 | — | — | — | — | |
| PlanTF2026.02 | 69.63 | — | — | — | — | |
| Diffusion PlannerType=Learning-based, Evaluation Protocol=Reactive (R)2026.06 | 69.22 | — | — | — | — | |
| DFP (ours) †Type=Learning-based, Evaluation Protocol=Reactive (R), components=Flow Matching + Mixture-of-Transformer2026.06 | 67.94 | — | — | — | — | |
| GameFormer2026.02 | 67.85 | — | — | — | — | |
| PDMType=Hybrid2026.02 | 66.13 | — | — | — | — | |
| PDMType=Closed2026.02 | 65.08 | — | — | — | — | |
| CoPlannerType=Learning-based, Evaluation Protocol=Reactive (R)2026.06 | 64.47 | — | — | — | — | |
| DFP (ours)Type=Learning-based, Evaluation Protocol=Reactive (R)2026.06 | 63.56 | — | — | — | — | |
| PlanTFType=Learning-based, Evaluation Protocol=Reactive (R)2026.06 | 61.61 | — | — | — | — | |
| Diffusion Planner *Type=Learning-based, Evaluation Protocol=Reactive (R), reproduced=true2026.06 | 61.25 | — | — | — | — | |
| PLUTOType=Learning-based, Evaluation Protocol=Reactive (R)2026.06 | 59.74 | — | — | — | — | |
| UrbanDriverType=Learning2024.09 | 59.2 | 76.9 | 51.5 | 49.1 | — | |
| IDM2026.02 | 56.21 | — | — | — | — | |
| PDM-ClosedType=Rule2024.09 | 55.6 | 26.4 | 65.1 | 75.2 | — | |
| GC-PGPType=Learning2024.09 | 52.2 | 73.8 | 43.2 | 39.6 | — | |
| PlanCNNType=Learning2024.09 | 51.3 | 52.4 | 49.4 | 52.2 | — | |
| UrbanDriverType=Learning-based, Evaluation Protocol=Non-reactive (NR)2026.06 | 50.4 | — | — | — | — | |
| UrbanDriver2026.02 | 49.95 | — | — | — | — | |
| UrbanDriverType=Learning-based, Evaluation Protocol=Reactive (R)2026.06 | 49.95 | — | — | — | — | |
| PDM-OpenType=Learning2024.09 | 49.5 | 79.1 | 33.5 | 35.8 | — | |
| IDMType=Rule2024.09 | 46.2 | 20.1 | 56.2 | 62.3 | — | |
| PDM-Open*Type=Learning-based, Evaluation Protocol=Reactive (R), reproduced=true2026.06 | 35.83 | — | — | — | — | |
| PDMType=Open*2026.02 | 35.53 | — | — | — | — | |
| PDM-Open*Type=Learning-based, Evaluation Protocol=Non-reactive (NR), reproduced=true2026.06 | 33.51 | — | — | — | — | |
| GameFormerRefinement=None2026.02 | 7.08 | — | — | — | — | |
| GameFormerType=Learning-based, Evaluation Protocol=Non-reactive (NR)2026.06 | 7.08 | — | — | — | — | |
| GameFormerType=Learning-based, Evaluation Protocol=Reactive (R)2026.06 | 6.69 | — | — | — | — | |
| BIBeRIntegration=Co-Leader2025.12 | — | — | 73 | — | 79.57 | |
| BIBeR-CVIntegration=Co-Leader2025.12 | — | — | 80.3 | — | 83 | |
| DiffusionPlannerIntegration=Joint2025.12 | — | — | 75.99 | — | 69.22 | |
| DTPPIntegration=Co-Leader2025.12 | — | — | 60.11 | — | 63.66 | |
| GameFormerIntegration=Joint2025.12 | — | — | 68.7 | — | 67.05 | |
| GC-PGPIntegration=None2025.12 | — | — | 43.22 | — | 39.36 | |
| PDM-ClosedIntegration=Human Leader2025.12 | — | — | 65.08 | — | 75.19 | |
| PDM-HybridIntegration=Human Leader2025.12 | — | — | 65.99 | — | 76.07 | |
| PDM-OpenIntegration=None2025.12 | — | — | 33.51 | — | 35.83 | |
| PlanCNNIntegration=None2025.12 | — | — | 49.4 | — | 52.2 | |
| PlanTFIntegration=None2025.12 | — | — | 69.7 | — | 61.61 | |
| Urban DriverIntegration=None2025.12 | — | — | 50.4 | — | 49.95 |