Planning on nuScenes C
0Collision Rate (1s)GraphWorld
Evaluation results
| Method | Links | ||||
|---|---|---|---|---|---|
| GraphWorldScene=Clean2026.06 | 0 | 4 | 20 | 8 | |
| SparseDriveScene=Clean2026.06 | 1 | 5 | 18 | 8 | |
| MomADScene=Clean2026.06 | 1 | 5 | 22 | 9 | |
| DiffusionDriveScene=Clean2026.06 | 3 | 5 | 16 | 8 | |
| GraphWorldScene=Rain2026.06 | 5 | 15 | 29 | 16 | |
| GraphWorldScene=Fog2026.06 | 5 | 17 | 29 | 17 | |
| MomADScene=Rain2026.06 | 6 | 17 | 31 | 18 | |
| MomADScene=Fog2026.06 | 6 | 19 | 32 | 19 | |
| DiffusionDriveScene=Fog2026.06 | 6 | 18 | 30 | 18 | |
| GraphWorldScene=Snow2026.06 | 7 | 15 | 28 | 17 | |
| DiffusionDriveScene=Rain2026.06 | 7 | 18 | 35 | 20 | |
| MomADScene=Snow2026.06 | 8 | 16 | 30 | 18 | |
| DiffusionDriveScene=Snow2026.06 | 9 | 24 | 39 | 24 | |
| SparseDriveScene=Rain2026.06 | 11 | 27 | 55 | 31 | |
| SparseDriveScene=Snow2026.06 | 13 | 27 | 50 | 30 | |
| SparseDriveScene=Fog2026.06 | 14 | 36 | 58 | 36 |