Trajectory Planning on HUGSIM nuScenes (hard)
0.968NCAlpamayo
Evaluation Results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| AlpamayoRequires VLM @ Inference=Yes, Number of Parameters (M)=11079, Latency (ms)=52462025.05 | 0.968 | 1 | 0.963 | 0.906 | 0.041 | 0.038 | |
| OmniDriveRequires VLM @ Inference=Yes, Number of Parameters (M)=6849, Latency (ms)=5542025.05 | 0.757 | 0.2 | 0.731 | 0 | 0.075 | 0.005 | |
| UniADRequires VLM @ Inference=No, Number of Parameters (M)=132, Latency (ms)=7242025.05 | 0.716 | 0.978 | 0.398 | 0.109 | 0.37 | 0.113 | |
| VAD-BaseRequires VLM @ Inference=No, Number of Parameters (M)=58, Latency (ms)=3592025.05 | 0.631 | 0.877 | 0.387 | 0.934 | 0.367 | 0.17 | |
| VERDIRequires VLM @ Inference=No, Number of Parameters (M)=58, Latency (ms)=3592025.05 | 0.623 | 0.941 | 0.389 | 0.951 | 0.368 | 0.213 | |
| OpenEMMARequires VLM @ Inference=Yes, Number of Parameters (M)=7000, Latency (ms)=5732025.05 | 0.312 | 0.823 | 0.261 | 1 | 0.31 | 0.08 |