Scenario Generation on nuPlan (test) benchmark leaderboard · SOTA2 Research

Scenario Generation on nuPlan (test)

0.676Realism ScoreSaFeR

Evaluation Results

Method	Links
SaFeR2026.03		0.676	0.4197	0.7512	0.7257
Diffusion2026.03		0.6597	0.4151	0.7417	0.6939
SMART2026.03		0.6453	0.4114	0.742	0.6546
QCNet2026.03		0.584	0.3796	0.651	0.6146
GUMP2026.03		0.5674	0.3299	0.6341	0.6173