Trajectory Planning on NavSim (test)
100NCHuman
Evaluation results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| HumanInput=-, #Traj.=-, Traj. Eval.=-2026.03 | 100 | 100 | 87.5 | 100 | 99.9 | 94.8 | |
| Human2026.06 | 100 | 100 | 87.5 | 100 | 99.9 | 94.8 | |
| Qwen-RobotNav-4BHistorical ego-status prior=true2026.06 | 99.8 | 97.5 | 84.4 | 98.5 | 99.9 | 91.4 | |
| Qwen-RobotNav-8BHistorical ego-status prior=true2026.06 | 99.8 | 96.9 | 84.2 | 98.2 | 99.9 | 90.9 | |
| DrivingGPT2026.06 | 98.9 | 90.7 | 79.7 | 94.9 | 95.6 | 82.4 | |
| DynFlowDriveInput=C & L, #Traj.=256, Traj. Eval.=Model-based2026.03 | 98.7 | 96.8 | 82.5 | 95.5 | 100 | 88.7 | |
| WoTEInput=C & L, #Traj.=256, Traj. Eval.=Model-based2026.03 | 98.5 | 96.8 | 81.9 | 94.9 | 99.9 | 88.3 | |
| WoTEUses additional LiDAR information=true2026.06 | 98.5 | 96.8 | 81.9 | 94.9 | 99.9 | 88.3 | |
| GoalFlowUses additional LiDAR information=true2026.06 | 98.4 | 98.3 | 85 | 94.6 | 100 | 90.3 | |
| AutoVLA2026.06 | 98.4 | 95.6 | 81.9 | 98 | 99.9 | 89.1 | |
| Hydra-MDPInput=C & L, #Traj.=8192, Traj. Eval.=Model-free2026.03 | 98.3 | 96 | 78.7 | 94.6 | 100 | 86.5 | |
| VADv22026.06 | 98.3 | 97.4 | 82.3 | 95.7 | 100 | 89.3 | |
| DiffusionDriveInput=C & L, #Traj.=20, Traj. Eval.=✗2026.03 | 98.2 | 96.2 | 82.2 | 94.7 | 100 | 88.1 | |
| DiffusionDriveUses additional LiDAR information=true2026.06 | 98.2 | 96.2 | 82.2 | 94.7 | 100 | 88.1 | |
| Hydra-NeXtUses additional LiDAR information=true2026.06 | 98.1 | 97.7 | 81.8 | 94.6 | 100 | 88.6 | |
| DRAMAInput=C & L, #Traj.=1, Traj. Eval.=✗2026.03 | 98 | 93.1 | 80.1 | 94.8 | 100 | 85.5 | |
| DRAMAUses additional LiDAR information=true2026.06 | 98 | 93.1 | 80.1 | 94.8 | 100 | 85.5 | |
| VADv2Input=C, #Traj.=8192, Traj. Eval.=Rule-based2026.03 | 97.9 | 91.7 | 77.6 | 92.9 | 100 | 83 | |
| PARA-DriveInput=C, #Traj.=1, Traj. Eval.=Rule-based2026.03 | 97.9 | 92.4 | 79.3 | 93 | 99.8 | 84 | |
| PARA-Drive2026.06 | 97.9 | 92.4 | 79.3 | 93 | 99.8 | 84 | |
| ReCogDrive2026.06 | 97.9 | 97.3 | 87.3 | 94.9 | 100 | 90.8 | |
| UniADInput=C, #Traj.=1, Traj. Eval.=Rule-based2026.03 | 97.8 | 91.9 | 78.8 | 92.9 | 100 | 83.4 | |
| UniAD2026.06 | 97.8 | 91.9 | 78.8 | 92.9 | 100 | 83.4 | |
| TransFuserInput=C & L, #Traj.=1, Traj. Eval.=✗2026.03 | 97.7 | 92.8 | 79.2 | 92.8 | 100 | 84 | |
| TransFuserUses additional LiDAR information=true2026.06 | 97.7 | 92.8 | 79.2 | 92.8 | 100 | 84 | |
| NavFoM2026.06 | 97.7 | 93.5 | 79.6 | 92.3 | 100 | 84.3 | |
| ReflectDrive2026.06 | 97.7 | 99.3 | 86.9 | 93.5 | 100 | 91.1 | |
| Hydra-MDP++2026.06 | 97.6 | 96 | 80.4 | 93.1 | 100 | 86.6 | |
| LTFInput=C, #Traj.=1, Traj. Eval.=✗2026.03 | 97.4 | 92.8 | 79 | 92.4 | 100 | 83.8 | |
| World4DriveInput=C, #Traj.=6, Traj. Eval.=✗2026.03 | 97.4 | 94.3 | 79.9 | 92.8 | 100 | 85.1 | |
| LAWInput=C, #Traj.=1, Traj. Eval.=✗2026.03 | 96.4 | 95.4 | 81.7 | 88.7 | 99.9 | 84.6 | |
| LAW2026.06 | 96.4 | 95.4 | 81.7 | 88.7 | 99.9 | 84.6 | |
| Qwen-RobotNav-4BHistorical ego-status prior=false2026.06 | 96.4 | 90.9 | 75.2 | 89 | 99.9 | 79.5 | |
| Qwen-RobotNav-8BHistorical ego-status prior=false2026.06 | 95.9 | 91.3 | 75.5 | 88.4 | 100 | 79.5 | |
| Ego Status MLPInput=-, #Traj.=1, Traj. Eval.=✗2026.03 | 93 | 77.3 | 62.8 | 83.6 | 100 | 65.6 | |
| Ego Status MLP2026.06 | 93 | 77.3 | 62.8 | 83.6 | 100 | 65.6 | |
| Constant VelocityInput=-, #Traj.=1, Traj. Eval.=✗2026.03 | 69.9 | 58.8 | 49.3 | 49.3 | 100 | 21.6 | |
| Constant Velocity2026.06 | 68 | 57.8 | 19.4 | 50 | 100 | 20.6 |