Trajectory Planning on NAVSIM v1 (navtest)
99.2NCDiffE2E†
Evaluation results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| DiffE2E†Img. Backbone=ResNet-34, Input=C & L, Evaluation Protocol=closed-loop, Variant=ResNet-34 image encoder variant2026.05 | 99.2 | 96.8 | 96.7 | 100 | 83.6 | 89.8 | |
| ResWorld*Img. Backbone=ResNet-34, Input=C & L, Evaluation Protocol=closed-loop, Variant=historical-frame variant2026.05 | 98.9 | 96.5 | 95.6 | 100 | 83.1 | 89 | |
| IDOLImg. Backbone=ResNet-34, Input=C & L, Evaluation Protocol=closed-loop2026.05 | 98.8 | 97.6 | 95.9 | 100 | 83.8 | 90 | |
| FlowR2A# Proposals=60, Img. Backbone=ResNet-342026.06 | 98.8 | 98 | 96 | 100 | 90.1 | 92.8 | |
| MeanFuserInput=C-Only, Img. Backbone=ResNet-342026.02 | 98.6 | 97 | 95 | 100 | 82.8 | 89 | |
| MeanFuserImg. Backbone=ResNet-34, Input=Camera, Evaluation Protocol=closed-loop2026.05 | 98.6 | 97 | 95 | 100 | 82.8 | 89 | |
| FlowR2A# Proposals=1, Img. Backbone=ResNet-342026.06 | 98.6 | 97.3 | 95.3 | 100 | 84.9 | 90 | |
| Hydra-MDP++# Proposals=8192, Img. Backbone=V2-992026.06 | 98.6 | 98.6 | 95.1 | 100 | 85.7 | 91 | |
| iPad# Proposals=64, Img. Backbone=ResNet-342026.06 | 98.6 | 98.3 | 94.9 | 100 | 88 | 91.7 | |
| WoTEVenue=ICCV 2025, Input=C & L, Img. Backbone=ResNet-342026.02 | 98.5 | 96.8 | 94.9 | 99.9 | 81.9 | 88.3 | |
| WoTEImg. Backbone=ResNet-34, Input=C & L, Evaluation Protocol=closed-loop2026.05 | 98.5 | 96.8 | 94.9 | 99.9 | 81.9 | 88.3 | |
| WoTE# Proposals=256, Img. Backbone=ResNet-342026.06 | 98.5 | 96.8 | 94.9 | 99.9 | 81.9 | 88.3 | |
| SeerDriveImg. Backbone=ResNet-34, Input=C & L, Evaluation Protocol=closed-loop2026.05 | 98.4 | 97 | 94.9 | 99.9 | 83.2 | 88.9 | |
| Hydra-MDP# Proposals=8192, Img. Backbone=V2-992026.06 | 98.4 | 97.8 | 93.9 | 100 | 86.5 | 90.3 | |
| GoalFlow# Proposals=256, Img. Backbone=V2-992026.06 | 98.4 | 98.3 | 94.6 | 100 | 85 | 90.3 | |
| Hydra-MDPVenue=arXiv 2024, Input=C & L, Img. Backbone=ResNet-342026.02 | 98.3 | 96 | 94.6 | 100 | 78.7 | 86.5 | |
| GoalFlowVenue=CVPR 2025, Input=C & L, Img. Backbone=ResNet-342026.02 | 98.3 | 93.8 | 94.3 | 100 | 79.8 | 85.7 | |
| ARTEMIS# Proposals=1, Img. Backbone=ResNet-342026.06 | 98.3 | 95.1 | 94.3 | 100 | 81.4 | 87 | |
| Hydra-MDP# Proposals=8192, Img. Backbone=ResNet-342026.06 | 98.3 | 96 | 94.6 | 100 | 78.7 | 86.5 | |
| DiffusionDriveV2# Proposals=800, Img. Backbone=ResNet-342026.06 | 98.3 | 97.9 | 94.8 | 99.9 | 87.5 | 91.2 | |
| DiffusionDriveVenue=CVPR 2025, Input=C & L, Img. Backbone=ResNet-342026.02 | 98.2 | 96.2 | 94.7 | 100 | 82.2 | 88.1 | |
| DiffusionDriveImg. Backbone=ResNet-34, Input=C & L, Evaluation Protocol=closed-loop2026.05 | 98.2 | 96.2 | 94.7 | 100 | 82.2 | 88.1 | |
| DiffusionDrive# Proposals=20, Img. Backbone=ResNet-342026.06 | 98.2 | 96.2 | 94.7 | 100 | 82.2 | 88.1 | |
| DRAMA# Proposals=1, Img. Backbone=ResNet-342026.06 | 98 | 93.1 | 94.8 | 100 | 80.1 | 85.5 | |
| PARADriveVenue=CVPR 2024, Input=C & L, Img. Backbone=ResNet-342026.02 | 97.9 | 92.4 | 93 | 99.8 | 79.3 | 84 | |
| EponaVenue=ICCV 2025, Input=C & L, Img. Backbone=Transformer2026.02 | 97.9 | 95.1 | 93.8 | 99.9 | 80.4 | 86.2 | |
| PARA-DriveImg. Backbone=ResNet-34, Input=Camera, Evaluation Protocol=closed-loop2026.05 | 97.9 | 92.4 | 93 | 99.8 | 79.3 | 84 | |
| PARA-Drive# Proposals=1, Img. Backbone=ResNet-342026.06 | 97.9 | 92.4 | 93 | 99.8 | 79.3 | 84 | |
| UniADVenue=CVPR 2023, Input=C & L, Img. Backbone=ResNet-342026.02 | 97.8 | 91.9 | 92.9 | 100 | 78.8 | 83.4 | |
| UniADImg. Backbone=ResNet-34, Input=Camera, Evaluation Protocol=closed-loop2026.05 | 97.8 | 91.9 | 92.9 | 100 | 78.8 | 83.4 | |
| UniAD# Proposals=1, Img. Backbone=ResNet-342026.06 | 97.8 | 91.9 | 92.9 | 100 | 78.8 | 83.4 | |
| DriveSuprim# Proposals=8192, Img. Backbone=ResNet-342026.06 | 97.8 | 97.3 | 93.6 | 100 | 86.7 | 89.9 | |
| TransFuserVenue=IEEE TPAMI, Input=C & L, Img. Backbone=ResNet-342026.02 | 97.7 | 92.8 | 92.8 | 100 | 79.2 | 84 | |
| TransFuserImg. Backbone=ResNet-34, Input=C & L, Evaluation Protocol=closed-loop2026.05 | 97.7 | 92.8 | 92.8 | 100 | 79.2 | 84 | |
| Transfuser# Proposals=1, Img. Backbone=ResNet-342026.06 | 97.7 | 92.8 | 92.8 | 100 | 79.2 | 84 | |
| Hydra-MDP++# Proposals=8192, Img. Backbone=ResNet-342026.06 | 97.6 | 96 | 93.1 | 100 | 80.4 | 86.6 | |
| VADv2Venue=arXiv 2024, Input=C & L, Img. Backbone=ResNet-342026.02 | 97.2 | 89.1 | 91.6 | 100 | 76 | 80.9 | |
| VADv2Img. Backbone=ResNet-34, Input=C & L, Evaluation Protocol=closed-loop2026.05 | 97.2 | 89.1 | 91.6 | 100 | 76 | 80.9 | |
| VADv2# Proposals=8192, Img. Backbone=ResNet-342026.06 | 97.2 | 89.1 | 91.6 | 100 | 76 | 80.9 | |
| LAWImg. Backbone=ResNet-34, Input=Camera, Evaluation Protocol=closed-loop2026.05 | 96.4 | 95.4 | 88.7 | 99.9 | 81.7 | 84.6 |