Trajectory Planning on HUGSIM nuScenes (extreme)
0.962NCAlpamayo
Evaluation Results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| AlpamayoRequires VLM @ Inference=Yes, Number of Parameters (M)=11079, Latency (ms)=52462025.05 | 0.962 | 1 | 0.955 | 0.891 | 0.042 | 0.039 | |
| OmniDriveRequires VLM @ Inference=Yes, Number of Parameters (M)=6849, Latency (ms)=5542025.05 | 0.766 | 0.224 | 0.686 | 0 | 0.074 | 0.006 | |
| UniADRequires VLM @ Inference=No, Number of Parameters (M)=132, Latency (ms)=7242025.05 | 0.649 | 0.95 | 0.375 | 0.096 | 0.291 | 0.107 | |
| VERDIRequires VLM @ Inference=No, Number of Parameters (M)=58, Latency (ms)=3592025.05 | 0.566 | 0.961 | 0.358 | 0.944 | 0.265 | 0.115 | |
| VAD-BaseRequires VLM @ Inference=No, Number of Parameters (M)=58, Latency (ms)=3592025.05 | 0.45 | 0.957 | 0.32 | 0.876 | 0.328 | 0.154 | |
| OpenEMMARequires VLM @ Inference=Yes, Number of Parameters (M)=7000, Latency (ms)=5732025.05 | 0.388 | 0.805 | 0.35 | 1 | 0.291 | 0.104 |