Planning on nuPlan 14 Random (test)
0.948CLS-NRDiff. Planner w/ refine.
Evaluation results
| Method | Links | ||||||||
|---|---|---|---|---|---|---|---|---|---|
| Diff. Planner w/ refine.Type=Hybrid2026.02 | 0.948 | — | — | — | — | 0.9175 | — | — | |
| CarPlannerType=RL2025.02 | 0.9407 | — | — | — | 0.911 | — | — | — | |
| Log-replayType=Expert2026.02 | 0.9403 | — | — | — | — | 0.7586 | — | — | |
| Log ReplayType=Expert2024.09 | 0.94 | 1 | 0.759 | 0.9 | — | — | — | — | |
| Hi-DriveType=Model-based2026.02 | 0.9371 | — | — | — | — | 0.9231 | 92 | 92 | |
| BIBeR-CVIntegration=Co-Leader2025.12 | 0.9318 | — | — | — | 0.9301 | — | — | — | |
| PLUTO w/ refine.Type=Hybrid2026.02 | 0.9223 | — | — | — | — | 0.9029 | — | — | |
| PLUTOType=IL2025.02 | 0.9192 | — | — | — | 0.9003 | — | — | — | |
| PEPType=IL2025.02 | 0.9145 | — | — | — | 0.8974 | — | — | — | |
| BIBeRIntegration=Co-Leader2025.12 | 0.9112 | — | — | — | 0.9092 | — | — | — | |
| PDM-HybridType=Hybrid2024.09 | 0.902 | 0.822 | 0.916 | 0.88 | — | — | — | — | |
| BeTopNetType=Learning2024.09 | 0.902 | 0.876 | 0.857 | 0.878 | — | — | — | — | |
| BeTopNetType=Learning, Venue=NeurIPS’242026.03 | 0.902 | 0.876 | — | — | 0.857 | — | — | — | |
| CarPLANType=Learning, Venue=-2026.03 | 0.902 | 0.884 | — | — | 0.871 | — | — | — | |
| PDM-ClosedType=Rule2024.09 | 0.901 | 0.463 | 0.916 | 0.76 | — | — | — | — | |
| PDM-HybridType=Hybrid2026.02 | 0.901 | — | — | — | — | 0.9128 | 171 | 171 | |
| PDM-HybridIntegration=Human Leader2025.12 | 0.901 | — | — | — | 0.9128 | — | — | — | |
| PDM-ClosedType=Rule2025.02 | 0.9005 | — | — | — | 0.9164 | — | — | — | |
| PDM-ClosedIntegration=Human Leader2025.12 | 0.9005 | — | — | — | 0.9163 | — | — | — | |
| PLUTOType=Learning-based2026.02 | 0.899 | — | — | — | — | 0.7862 | — | — | |
| PLUTOType=Learning, Venue=arXiv’242026.03 | 0.899 | 0.878 | — | — | 0.786 | — | — | — | |
| Diffusion-PlannerType=Learning, Venue=ICLR’252026.03 | 0.892 | 0.73 | — | — | 0.829 | — | — | — | |
| Diffusion PlannerType=Learning-based2026.02 | 0.8919 | — | — | — | — | 0.8293 | 80 | 80 | |
| DiffusionPlannerIntegration=Joint2025.12 | 0.8919 | — | — | — | 0.8293 | — | — | — | |
| PlanTFType=Learning2024.09 | 0.865 | 0.871 | 0.806 | 0.847 | — | — | — | — | |
| PlanTFType=IL2025.02 | 0.8648 | — | — | — | 0.8059 | — | — | — | |
| RaScType=Learning, Venue=ECCV’242026.03 | 0.86 | 0.91 | — | — | 0.76 | — | — | — | |
| PlanTFIntegration=None2025.12 | 0.8562 | — | — | — | 0.7958 | — | — | — | |
| PlanTFType=Learning, Venue=ICRA’242026.03 | 0.856 | 0.878 | — | — | 0.796 | — | — | — | |
| GameFormerIntegration=Joint2025.12 | 0.8388 | — | — | — | 0.8205 | — | — | — | |
| GameFormerType=Hybrid2024.09 | 0.808 | 0.794 | 0.793 | 0.798 | — | — | — | — | |
| GameFormerType=IL2025.02 | 0.808 | — | — | — | 0.7931 | — | — | — | |
| IDMType=Rule2024.09 | 0.704 | 0.342 | 0.724 | 0.59 | — | — | — | — | |
| IDMType=Rule2025.02 | 0.7039 | — | — | — | 0.7242 | — | — | — | |
| PlanCNNType=Learning2024.09 | 0.697 | 0.629 | 0.675 | 0.667 | — | — | — | — | |
| PlanCNNIntegration=None2025.12 | 0.697 | — | — | — | 0.675 | — | — | — | |
| RasterModelType=IL2025.02 | 0.6966 | — | — | — | 0.6754 | — | — | — | |
| UrbanDriverType=Learning2024.09 | 0.633 | 0.824 | 0.61 | 0.689 | — | — | — | — | |
| UrbanDriverType=IL2025.02 | 0.6327 | — | — | — | 0.6102 | — | — | — | |
| GC-PGPType=Learning2024.09 | 0.56 | 0.773 | 0.514 | 0.616 | — | — | — | — | |
| GC-PGPType=IL2025.02 | 0.5599 | — | — | — | 0.5139 | — | — | — | |
| GC-PGPIntegration=None2025.12 | 0.5599 | — | — | — | 0.5139 | — | — | — | |
| PDM-OpenIntegration=None2025.12 | 0.5281 | — | — | — | 0.5723 | — | — | — | |
| PDM-OpenType=Learning2024.09 | 0.528 | 0.841 | 0.572 | 0.647 | — | — | — | — | |
| PDM-OpenType=IL2025.02 | 0.528 | — | — | — | 0.5723 | — | — | — | |
| PDM-OpenType=Learning, Venue=CoRL’232026.03 | 0.528 | 0.841 | — | — | 0.572 | — | — | — | |
| Urban DriverIntegration=None2025.12 | 0.5183 | — | — | — | 0.6715 | — | — | — | |
| UrbanDriverType=Learning, Venue=PMLR’222026.03 | 0.518 | 0.812 | — | — | 0.672 | — | — | — | |
| GameFormerType=Learning, Venue=ICCV’232026.03 | 0.114 | 0.684 | — | — | 0.093 | — | — | — | |
| Vec-QMDP (best)Type=Model-based, Mode=best2026.02 | — | — | — | — | — | — | 14 | 14 | |
| Vec-QMDP (match)Type=Model-based, Mode=match2026.02 | — | — | — | — | — | — | 9 | 9 |