Trajectory Planning on HUGSIM nuScenes (medium)
0.977NC ScoreAlpamayo
Evaluation Results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| AlpamayoRequires VLM @ Inference=Yes, Number of Parameters (M)=11079, Latency (ms)=52462025.05 | 0.977 | 1 | 0.969 | 0.921 | 0.046 | 0.043 | |
| OmniDriveRequires VLM @ Inference=Yes, Number of Parameters (M)=6849, Latency (ms)=5542025.05 | 0.786 | 0.157 | 0.767 | 0 | 0.087 | 0.004 | |
| UniADRequires VLM @ Inference=No, Number of Parameters (M)=132, Latency (ms)=7242025.05 | 0.708 | 0.959 | 0.412 | 0.199 | 0.389 | 0.14 | |
| VERDIRequires VLM @ Inference=No, Number of Parameters (M)=58, Latency (ms)=3592025.05 | 0.649 | 0.927 | 0.466 | 0.958 | 0.315 | 0.143 | |
| VAD-BaseRequires VLM @ Inference=No, Number of Parameters (M)=58, Latency (ms)=3592025.05 | 0.537 | 0.912 | 0.305 | 0.897 | 0.308 | 0.108 | |
| OpenEMMARequires VLM @ Inference=Yes, Number of Parameters (M)=7000, Latency (ms)=5732025.05 | 0.512 | 0.79 | 0.448 | 1 | 0.376 | 0.172 |