Planning on nuScenes (val)
0.38L2 Error (1s)GraphWorld
Evaluation results
| Method | Links | ||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| GraphWorldEvaluation Mode=Open-Loop2026.06 | 0.38 | 0.7 | 1.12 | 1.64 | 1.88 | 2.29 | 1.34 | 3 | 6 | 25 | 65 | 1.29 | 1.95 | 0.7 | |
| EponaEvaluation Mode=Open-Loop2026.06 | 0.39 | 0.91 | 1.17 | 1.73 | 2.02 | 2.75 | 1.5 | 14 | 18 | 45 | 74 | 1.48 | 2.23 | 0.87 | |
| LAWEvaluation Mode=Open-Loop2026.06 | 0.4 | 0.87 | 1.16 | 1.71 | 2.03 | 2.61 | 1.46 | 19 | 33 | 57 | 86 | 1.51 | 2.31 | 0.96 | |
| MomADEvaluation Mode=Open-Loop2026.06 | 0.41 | 0.85 | 1.13 | 1.67 | 1.98 | 2.45 | 1.42 | 17 | 30 | 54 | 83 | 1.43 | 2.13 | 0.9 | |
| World4DriveEvaluation Mode=Open-Loop2026.06 | 0.42 | 0.92 | 1.21 | 1.75 | 2.06 | 2.79 | 1.53 | 16 | 20 | 47 | 76 | 1.5 | 2.14 | 0.87 | |
| SparseDriveEvaluation Mode=Open-Loop2026.06 | 0.43 | 0.87 | 1.23 | 1.75 | 2.32 | 2.95 | 1.59 | 19 | 31 | 56 | 87 | 1.54 | 2.33 | 0.97 | |
| UniADEvaluation Mode=Open-Loop2026.06 | 0.47 | 0.91 | 1.35 | 1.91 | 2.47 | 3.07 | 1.7 | 25 | 36 | 61 | 99 | 1.64 | 2.51 | 1.06 | |
| MagicDrive-V2Backbone=STDiT [119]2026.06 | 0.49 | 1 | 1.78 | — | — | — | 1.09 | — | — | — | — | — | — | — | |
| FrozenDriveBackbone=SD [71]2026.06 | 0.5 | 0.98 | 1.66 | — | — | — | 1.05 | — | — | — | — | — | — | — | |
| nuScenes2026.06 | 0.51 | 0.98 | 1.65 | — | — | — | 1.05 | — | — | — | — | — | — | — | |
| DrivingSphereBackbone=STDiT [119]2026.06 | 0.54 | 1.1 | 1.76 | — | — | — | 1.13 | — | — | — | — | — | — | — | |
| X-SceneBackbone=SD [71]2026.06 | 0.55 | 1.08 | 1.81 | — | — | — | 1.15 | — | — | — | — | — | — | — | |
| DiST-4DBackbone=STDiT [119]2026.06 | 0.56 | 1.11 | 1.91 | — | — | — | 1.19 | — | — | — | — | — | — | — | |
| DriveArenaBackbone=SD [71]2026.06 | 0.56 | 1.1 | 1.89 | — | — | — | 1.18 | — | — | — | — | — | — | — | |
| MagicDriveBackbone=SD [71]2026.06 | 0.57 | 1.14 | 1.95 | — | — | — | 1.22 | — | — | — | — | — | — | — | |
| PanaceaBackbone=SD [71]2026.06 | 0.58 | 1.14 | 1.97 | — | — | — | 1.23 | — | — | — | — | — | — | — |