Planning on nuScenes v1.0-trainval (val)
0.11ST-P3 L2 Error (1s)Senna
Evaluation results
| Method | Links | ||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| SennaParadigm=Hybrid Paradigm, BEV=true, Planner=false2025.12 | 0.11 | — | — | — | — | — | — | — | — | 0.21 | 0.35 | 0.22 | 4 | 8 | 13 | 8 | — | — | — | — | — | — | — | — | |
| SOLVE-VLMParadigm=Hybrid Paradigm, BEV=true, Planner=false2025.12 | 0.13 | — | — | — | — | — | — | — | — | 0.25 | 0.47 | 0.28 | — | — | — | — | — | — | — | — | — | — | — | — | |
| EMMAParadigm=VLM-based, BEV=false, Planner=false2025.12 | 0.14 | — | — | — | — | — | — | — | — | 0.29 | 0.54 | 0.32 | — | — | — | — | — | — | — | — | — | — | — | — | |
| OmniDrive-Q++Paradigm=VLM-based, BEV=true, Planner=true2025.12 | 0.14 | — | — | — | — | — | — | — | — | 0.29 | 0.55 | 0.33 | — | — | — | — | — | — | — | — | — | — | — | — | |
| OmniDrive-L++Paradigm=VLM-based, BEV=false, Planner=true2025.12 | 0.15 | — | — | — | — | — | — | — | — | 0.36 | 0.7 | 0.4 | — | — | — | — | — | — | — | — | — | — | — | — | |
| SpaceDrive+Paradigm=VLM-based, BEV=false, Planner=true2025.12 | 0.15 | — | — | — | — | — | — | — | — | 0.29 | 0.51 | 0.32 | 5 | 8 | 16 | 10 | 0.2 | 0.53 | 1.13 | 0.62 | 10 | 31 | 80 | 40 | |
| DriveVLM-DualParadigm=Hybrid Paradigm, BEV=true, Planner=false2025.12 | 0.15 | — | — | — | — | — | — | — | — | 0.29 | 0.48 | 0.31 | 5 | 8 | 17 | 10 | — | — | — | — | — | — | — | — | |
| RDA-DriverParadigm=VLM-based, BEV=true, Planner=true2025.12 | 0.17 | — | — | — | — | — | — | — | — | 0.37 | 0.69 | 0.4 | 1 | 5 | 26 | 10 | 0.23 | 0.73 | 1.54 | 0.8 | 0 | 13 | 83 | 32 | |
| ORIONParadigm=VLM-based, BEV=true, Planner=false2025.12 | 0.17 | — | — | — | — | — | — | — | — | 0.31 | 0.55 | 0.34 | — | — | — | — | — | — | — | — | — | — | — | — | |
| DriveVLMParadigm=VLM-based, BEV=false, Planner=true2025.12 | 0.18 | — | — | — | — | — | — | — | — | 0.34 | 0.68 | 0.4 | — | — | — | — | — | — | — | — | — | — | — | — | |
| SSRInput=C2025.12 | 0.18 | — | — | — | — | — | — | — | — | 0.36 | 0.63 | 0.39 | 0.01 | 0.04 | 0.12 | 0.06 | 0.24 | 0.65 | 1.36 | 0.75 | 0 | 0.1 | 0.36 | 0.15 | |
| HENet++Input=RC2025.12 | 0.24 | — | — | — | — | — | — | — | — | 0.5 | 0.91 | 0.55 | 0.01 | 0.03 | 0.1 | 0.05 | 0.39 | 1.11 | 2.36 | 1.29 | 0 | 0.06 | 0.33 | 0.13 | |
| PARA-DriveInput=C2025.12 | 0.25 | — | — | — | — | — | — | — | — | 0.46 | 0.74 | 0.48 | 0.14 | 0.23 | 0.39 | 0.25 | — | — | — | — | — | — | — | — | |
| KnowVal-HENet++Input=RC2025.12 | 0.26 | — | — | — | — | — | — | — | — | 0.54 | 0.94 | 0.58 | 0 | 0.01 | 0.08 | 0.03 | 0.42 | 1.19 | 2.35 | 1.32 | 0 | 0.1 | 0.25 | 0.12 | |
| DiffusionDriveParadigm=Traditional Modular, BEV=false, Planner=true2025.12 | 0.27 | — | — | — | — | — | — | — | — | 0.54 | 0.9 | 0.57 | 3 | 5 | 16 | 8 | — | — | — | — | — | — | — | — | |
| DiffusionDriveInput=C2025.12 | 0.27 | — | — | — | — | — | — | — | — | 0.54 | 0.9 | 0.57 | 0.03 | 0.05 | 0.16 | 0.08 | — | — | — | — | — | — | — | — | |
| UADParadigm=Traditional Modular, BEV=false, Planner=false2025.12 | 0.28 | — | — | — | — | — | — | — | — | 0.41 | 0.65 | 0.45 | 1 | 3 | 14 | 6 | 0.39 | 0.8 | 1.5 | 0.9 | 1 | 12 | 43 | 19 | |
| MomADParadigm=Traditional Modular, BEV=false, Planner=false2025.12 | 0.28 | — | — | — | — | — | — | — | — | 0.49 | 0.78 | 0.52 | 8 | 14 | 34 | 19 | 0.36 | 0.83 | 1.56 | 0.91 | 6 | 23 | 100 | 43 | |
| BridgeAD-BInput=C2025.12 | 0.28 | — | — | — | — | — | — | — | — | 0.55 | 0.92 | 0.58 | 0 | 0.04 | 0.2 | 0.08 | — | — | — | — | — | — | — | — | |
| GenADInput=C2025.12 | 0.28 | — | — | — | — | — | — | — | — | 0.49 | 0.78 | 0.52 | 0.08 | 0.14 | 0.34 | 0.19 | 0.36 | 0.83 | 1.56 | 0.91 | 0.06 | 0.23 | 1 | 0.43 | |
| KnowVal-GenADInput=C2025.12 | 0.28 | — | — | — | — | — | — | — | — | 0.6 | 1.07 | 0.65 | 0.01 | 0.08 | 0.25 | 0.11 | 0.46 | 1.35 | 2.72 | 1.51 | 0 | 0.2 | 0.8 | 0.33 | |
| SparseDriveParadigm=Traditional Modular, BEV=false, Planner=true2025.12 | 0.29 | — | — | — | — | — | — | — | — | 0.55 | 0.91 | 0.58 | 1 | 2 | 13 | 6 | 0.44 | 0.92 | 1.69 | 1.01 | 7 | 19 | 71 | 32 | |
| SparseDriveInput=C2025.12 | 0.29 | — | — | — | — | — | — | — | — | 0.58 | 0.96 | 0.61 | 0.01 | 0.05 | 0.18 | 0.08 | 0.44 | 0.92 | 1.69 | 1.01 | 0.07 | 0.19 | 0.71 | 0.32 | |
| VLPParadigm=Hybrid Paradigm, BEV=true, Planner=false2025.12 | 0.3 | — | — | — | — | — | — | — | — | 0.53 | 0.84 | 0.55 | 1 | 7 | 38 | 15 | 0.36 | 0.68 | 1.19 | 0.74 | 3 | 12 | 32 | 16 | |
| ReAL-ADParadigm=Hybrid Paradigm, BEV=true, Planner=false2025.12 | 0.3 | — | — | — | — | — | — | — | — | 0.48 | 0.67 | 0.48 | 7 | 10 | 28 | 15 | 0.4 | 0.71 | 1.14 | 0.77 | 2 | 12 | 37 | 17 | |
| GenADParadigm=Traditional Modular, BEV=false, Planner=true2025.12 | 0.31 | — | — | — | — | — | — | — | — | 0.57 | 0.91 | 0.6 | 1 | 5 | 22 | 9 | 0.43 | 0.88 | 1.62 | 0.98 | 6 | 16 | 68 | 30 | |
| OmniDrive-L++Paradigm=VLM-based, BEV=false, Planner=true, Training Variant=trajectory prediction only2025.12 | 0.31 | — | — | — | — | — | — | — | — | 0.62 | 1.06 | 0.66 | — | — | — | — | — | — | — | — | — | — | — | — | |
| MomADInput=C2025.12 | 0.31 | — | — | — | — | — | — | — | — | 0.57 | 0.91 | 0.6 | 0.01 | 0.05 | 0.22 | 0.09 | 0.43 | 0.88 | 1.62 | 0.98 | 0.06 | 0.16 | 0.68 | 0.3 | |
| VAD-BaseParadigm=Traditional Modular, BEV=false, Planner=false2025.12 | 0.41 | — | — | — | — | — | — | — | — | 0.7 | 1.05 | 0.72 | 7 | 17 | 41 | 22 | 0.54 | 1.15 | 1.98 | 1.22 | 10 | 24 | 96 | 43 | |
| VAD-BaseInput=C2025.12 | 0.41 | — | — | — | — | — | — | — | — | 0.7 | 1.05 | 0.72 | 0.07 | 0.17 | 0.41 | 0.22 | 0.54 | 1.15 | 1.98 | 1.22 | 0.04 | 0.39 | 1.17 | 0.53 | |
| Drive-WMParadigm=Traditional Modular, BEV=true, Planner=true2025.12 | 0.43 | — | — | — | — | — | — | — | — | 0.77 | 1.2 | 0.8 | 10 | 21 | 48 | 26 | — | — | — | — | — | — | — | — | |
| UniADParadigm=Traditional Modular, BEV=false, Planner=false2025.12 | 0.44 | — | — | — | — | — | — | — | — | 0.67 | 0.96 | 0.69 | 4 | 8 | 23 | 12 | 0.48 | 0.96 | 1.65 | 1.03 | 5 | 17 | 71 | 31 | |
| UniADInput=C2025.12 | 0.45 | — | — | — | — | — | — | — | — | 0.7 | 1.04 | 0.73 | 0.62 | 0.58 | 0.63 | 0.61 | 0.48 | 0.96 | 1.65 | 1.03 | 0.05 | 0.17 | 0.71 | 0.31 | |
| SpaceDriveParadigm=VLM-based, BEV=false, Planner=false2025.12 | 1.06 | — | — | — | — | — | — | — | — | 1.79 | 2.55 | 1.8 | 35 | 61 | 131 | 76 | 1.41 | 2.88 | 4.51 | 2.93 | 59 | 172 | 453 | 228 | |
| OmniDrive-QParadigm=VLM-based, BEV=false, Planner=false2025.12 | 1.15 | — | — | — | — | — | — | — | — | 1.96 | 2.84 | 1.98 | — | — | — | — | — | — | — | — | — | — | — | — | |
| ST-P3Paradigm=Traditional Modular, BEV=false, Planner=false2025.12 | 1.33 | — | — | — | — | — | — | — | — | 2.11 | 2.9 | 2.11 | 23 | 62 | 127 | 71 | 1.72 | 3.26 | 4.86 | 3.28 | 44 | 108 | 301 | 151 | |
| ST-P3Input=C2025.12 | 1.33 | — | — | — | — | — | — | — | — | 2.11 | 2.9 | 2.11 | 0.23 | 0.62 | 1.27 | 0.71 | 1.72 | 3.26 | 4.86 | 3.28 | 0.44 | 1.08 | 3.01 | 1.51 | |
| OmniDrive-LParadigm=VLM-based, BEV=false, Planner=false2025.12 | 1.43 | — | — | — | — | — | — | — | — | 2.34 | 3.24 | 2.34 | — | — | — | — | — | — | — | — | — | — | — | — | |
| OmniDrive-LParadigm=VLM-based, BEV=false, Planner=false, Training Variant=trajectory prediction only2025.12 | 1.47 | — | — | — | — | — | — | — | — | 2.43 | 3.38 | 2.43 | — | — | — | — | — | — | — | — | — | — | — | — | |
| BEV-Plannerhistorical ego status info=false, collision_calculation_protocol=Li et al. (2024b)2024.06 | — | 0.3 | 0.52 | 0.83 | 0.55 | 0.1 | 0.37 | 1.3 | 0.59 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DiffusionDrivereproduced with official checkpoint=true2025.06 | — | 0.29 | 0.58 | 0.96 | 0.61 | 2 | 5 | 0.22 | 9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| EOhistorical ego status info=false2024.06 | — | 0.67 | 1.36 | 2.78 | 1.6 | 0.04 | 0.09 | 0.88 | 0.33 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| FFhistorical ego status info=false2024.06 | — | 0.55 | 1.2 | 2.54 | 1.43 | 0.06 | 0.17 | 1.07 | 0.43 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| FocalAD2025.06 | — | 0.27 | 0.57 | 0.96 | 0.6 | 0 | 4 | 0.24 | 9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| LAWsetting=perception-free, historical ego status info=false2024.06 | — | 0.26 | 0.57 | 1.01 | 0.61 | 0.14 | 0.21 | 0.54 | 0.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| LAWsetting=perception-based, historical ego status info=false2024.06 | — | 0.24 | 0.46 | 0.76 | 0.49 | 0.08 | 0.1 | 0.39 | 0.19 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Llama-3.2-11BLearning=SFT2024.10 | — | 0.8 | 2.31 | 3.1 | 2.07 | — | — | — | 0.06 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Llama-3.2-11B*Learning=Zero-Shot2024.10 | — | 1.5 | 3.44 | 4.04 | 3 | — | — | — | 23.92 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Llama-3.2-11B*Learning=Open-EMMA2024.10 | — | 1.54 | 3.31 | 3.91 | 2.92 | — | — | — | 22 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| LLaVA-1.6-7BLearning=SFT2024.10 | — | 0.91 | 2.5 | 3.44 | 2.28 | — | — | — | 55.25 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| LLaVA-1.6-7B*Learning=Zero-Shot2024.10 | — | 1.66 | 3.54 | 4.54 | 3.24 | — | — | — | 4.06 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| LLaVA-1.6-7B*Learning=Open-EMMA2024.10 | — | 1.49 | 3.38 | 4.09 | 2.98 | — | — | — | 6.12 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| NMPhistorical ego status info=false2024.06 | — | — | — | 2.31 | — | — | — | 1.92 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| OccNetInput=C2025.12 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 1.29 | 2.13 | 2.99 | 2.14 | 0.21 | 0.59 | 1.37 | 0.72 | |
| Qwen2-VL-7BLearning=SFT2024.10 | — | 1.32 | 2.94 | 3.98 | 2.74 | — | — | — | 0.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Qwen2-VL-7B*Learning=Zero-Shot2024.10 | — | 1.22 | 2.94 | 3.21 | 2.46 | — | — | — | 24 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Qwen2-VL-7B*Learning=Open-EMMA2024.10 | — | 1.45 | 3.21 | 3.76 | 2.81 | — | — | — | 16.11 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SA-NMPhistorical ego status info=false2024.06 | — | — | — | 2.05 | — | — | — | 1.59 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SparseDrivereproduced with official checkpoint=true2025.06 | — | 0.3 | 0.58 | 0.96 | 0.61 | 1 | 5 | 0.23 | 10 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ST-P3historical ego status info=false2024.06 | — | 1.33 | 2.11 | 2.9 | 2.11 | 0.23 | 0.62 | 1.27 | 0.71 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ST-P32025.06 | — | 1.33 | 2.11 | 2.9 | 2.11 | 23 | 62 | 1.27 | 71 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| UniADhistorical ego status info=false2024.06 | — | 0.48 | 0.96 | 1.65 | 1.03 | 0.05 | 0.17 | 0.71 | 0.31 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| UniAD2025.06 | — | 0.48 | 0.96 | 1.65 | 1.03 | 10 | 15 | 0.61 | 29 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| VADhistorical ego status info=false2024.06 | — | 0.41 | 0.7 | 1.05 | 0.72 | 0.07 | 0.17 | 0.41 | 0.22 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| VADreproduced with official checkpoint=true2025.06 | — | 0.41 | 0.7 | 1.05 | 0.72 | 11 | 24 | 0.42 | 26 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ViLaD-CoTLearning=Open-EMMA2024.10 | — | 1.24 | 2.74 | 4.13 | 2.71 | — | — | — | 0.17 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ViLaD-OptLearning=Efficient Optimized SFT2024.10 | — | 0.81 | 1.93 | 2.69 | 1.81 | — | — | — | 0 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ViLaD-SFTLearning=SFT2024.10 | — | 0.79 | 1.92 | 2.83 | 1.85 | — | — | — | 0 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ViLaD-ZeroLearning=Zero-Shot2024.10 | — | 1.09 | 2.51 | 3.74 | 2.45 | — | — | — | 0.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — |