Trajectory Planning on HUGSIM nuScenes (Overall)
0.971NCAlpamayo
Evaluation Results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| AlpamayoRequires VLM @ Inference=Yes, Number of Parameters (M)=11079, Latency (ms)=52462025.05 | 0.971 | 1 | 0.964 | 0.91 | 0.044 | 0.041 | |
| OmniDriveRequires VLM @ Inference=Yes, Number of Parameters (M)=6849, Latency (ms)=5542025.05 | 0.785 | 0.194 | 0.771 | 0 | 0.076 | 0.006 | |
| UniADRequires VLM @ Inference=No, Number of Parameters (M)=132, Latency (ms)=7242025.05 | 0.721 | 0.963 | 0.462 | 0.129 | 0.452 | 0.189 | |
| VERDIRequires VLM @ Inference=No, Number of Parameters (M)=58, Latency (ms)=3592025.05 | 0.659 | 0.944 | 0.469 | 0.954 | 0.354 | 0.2 | |
| VAD-BaseRequires VLM @ Inference=No, Number of Parameters (M)=58, Latency (ms)=3592025.05 | 0.597 | 0.906 | 0.406 | 0.901 | 0.375 | 0.186 | |
| OpenEMMARequires VLM @ Inference=Yes, Number of Parameters (M)=7000, Latency (ms)=5732025.05 | 0.441 | 0.796 | 0.385 | 1 | 0.357 | 0.141 |