Short-horizon planning on nuScenes (val)
0Collision Rate (1s)FocalAD
Evaluation results
| Method | Links | ||||||||
|---|---|---|---|---|---|---|---|---|---|
| FocalAD2026.06 | 0 | 0.27 | 0.57 | 0.96 | 0.6 | 4 | 24 | 9 | |
| GraphWorldBackbone=ResNet-50, Input Resolution=256 x 7042026.06 | 0 | 0.29 | 0.55 | 0.89 | 0.57 | 4 | 20 | 8 | |
| DIVER2026.06 | 1 | — | — | — | — | 5 | 15 | 7 | |
| SparseDrive2026.06 | 1 | 0.3 | 0.58 | 0.96 | 0.61 | 5 | 23 | 10 | |
| MomAD2026.06 | 1 | 0.31 | 0.57 | 0.91 | 0.6 | 5 | 22 | 9 | |
| DiffusionDrive2026.06 | 2 | 0.29 | 0.58 | 0.96 | 0.61 | 5 | 22 | 9 | |
| Drive-OccWorld2026.06 | 3 | 0.25 | 0.44 | 0.72 | 0.47 | 8 | 22 | 11 | |
| GenAD2026.06 | 8 | 0.28 | 0.49 | 0.78 | 0.52 | 14 | 34 | 19 | |
| UniAD2026.06 | 10 | 0.48 | 0.96 | 1.65 | 1.03 | 15 | 61 | 29 | |
| SSR2026.06 | 10 | 0.19 | 0.36 | 0.62 | 0.39 | 10 | 24 | 15 | |
| VAD2026.06 | 11 | 0.41 | 0.7 | 1.05 | 0.72 | 24 | 42 | 26 | |
| LAW2026.06 | 14 | 0.26 | 0.57 | 1.01 | 0.61 | 21 | 54 | 30 |