Trajectory Planning on NAVSIM v1 (test)
20.6PDMSConstant Velocity
Evaluation results
| Method | Links | |||||||
|---|---|---|---|---|---|---|---|---|
| Constant VelocityRefine Policy=-2026.07 | 20.6 | 68 | 57.8 | 19.4 | 50 | — | 100 | |
| Ego Status MLPRefine Policy=-2026.07 | 65.6 | 93 | 77.3 | 62.8 | 83.6 | — | 100 | |
| DrivingGPTInput=1xCam2026.05 | 82.4 | 98.9 | 90.7 | 79.7 | 94.9 | 95.6 | — | |
| UniADRefine Policy=-2026.07 | 83.4 | 97.8 | 91.9 | 78.8 | 92.9 | — | 100 | |
| TransFuserDim=256, Params (M)=55.9, Plan FPS=3934, FPS=632026.02 | 84 | — | — | — | — | — | — | |
| TranfuserPerception=Yes, Input=3xCam + L2026.05 | 84 | 97.7 | 92.8 | 79.2 | 92.8 | 100 | — | |
| PARA-DriveRefine Policy=-2026.07 | 84 | 97.9 | 92.4 | 79.3 | 93 | — | 99.8 | |
| World4DriveInput=3xCam2026.05 | 85.1 | 97.4 | 94.3 | 79.9 | 92.8 | 100 | — | |
| GoalFlowDim=256, Params (M)=62.3, Plan FPS=11, FPS=102026.02 | 85.7 | — | — | — | — | — | — | |
| EponaInput=1xCam2026.05 | 86.2 | 97.9 | 95.1 | 80.4 | 93.8 | 99.9 | — | |
| Hydra-MDPDim=256, Params (M)=65.2, Plan FPS=25, FPS=202026.02 | 86.5 | — | — | — | — | — | — | |
| DriveVLA-W0 (Flow)Input=1xCam2026.05 | 87.2 | 98.4 | 95.3 | 80.9 | 95.2 | 100 | — | |
| DiffusionDriveDim=256, Params (M)=60.7, Plan FPS=75, FPS=392026.02 | 88.1 | — | — | — | — | — | — | |
| DiffusionDrivePerception=Yes, Input=3xCam + L2026.05 | 88.1 | 98.2 | 96.2 | 82.2 | 94.7 | 100 | — | |
| PWMInput=1xCam2026.05 | 88.1 | 98.6 | 95.9 | 81.8 | 95.4 | 100 | — | |
| DiffusionDriveRefine Policy=-2026.07 | 88.1 | 98.2 | 96.2 | 82.2 | 94.7 | — | 100 | |
| DiffusionDriveRefine Policy=Original2026.07 | 88.1 | 98.2 | 96.2 | 82.2 | 94.7 | — | 100 | |
| WoTERefine Policy=-2026.07 | 88.3 | 98.5 | 96.8 | 81.9 | 94.9 | — | 99.9 | |
| DriveVLA-W0 (Query)Input=1xCam2026.05 | 88.4 | 98.7 | 96.2 | 82.2 | 95.5 | 100 | — | |
| Hydra-NeXtRefine Policy=-2026.07 | 88.6 | 98.1 | 97.7 | 81.8 | 94.6 | — | 100 | |
| VGGDrivePerception=Yes, Input=3xCam2026.05 | 88.8 | 98.6 | 96.3 | 82.9 | 95.6 | 100 | — | |
| MeanFuserDim=128, Params (M)=54.6, Plan FPS=434, FPS=592026.02 | 89 | — | — | — | — | — | — | |
| ResWorldPerception=Yes, Input=6xCam + L2026.05 | 89 | 98.9 | 96.5 | 83.1 | 95.6 | 100 | — | |
| MeanFuserPerception=Yes, Input=3xCam2026.05 | 89 | 98.6 | 97 | 82.8 | 95 | 100 | — | |
| DiffusionDriveRefine Policy=with DriveVer2026.07 | 89 | 98.3 | 96.8 | 84.1 | 94.2 | — | 100 | |
| AutoVLAPerception=Yes, Input=3x Cam2026.05 | 89.1 | 98.4 | 95.6 | 81.9 | 98 | 99.9 | — | |
| DriveLaWInput=1xCam2026.05 | 89.1 | 99 | 97.1 | 81.3 | 96.7 | 100 | — | |
| AutoVLA-3BRefine Policy=-2026.07 | 89.1 | 98.4 | 95.6 | 81.9 | 100 | — | 100 | |
| DriveVLA-W0 (Anchor)Perception=Yes, Input=1xCam2026.05 | 90.2 | 98.7 | 99.1 | 83.3 | 95.3 | 99.3 | — | |
| DriveVLA-W0-3BRefine Policy=-2026.07 | 90.3 | 98.7 | 99.1 | 83.3 | 95.3 | — | 99.3 | |
| GoalFlowRefine Policy=-2026.07 | 90.3 | 98.4 | 98.3 | 85 | 94.6 | — | 100 | |
| AdaThinkDriveRefine Policy=Original2026.07 | 90.3 | 98.4 | 97.8 | 84.4 | 95.2 | — | 100 | |
| EponaV2Input=1xCam2026.05 | 90.4 | 98.6 | 97.9 | 84.8 | 95.7 | 100 | — | |
| AutoDrive-P3Perception=Yes, Input=3xCam2026.05 | 90.6 | 99.1 | 97.4 | 84.8 | 96.5 | 100 | — | |
| ReCogDrivePerception=Yes, Input=1xCam2026.05 | 90.8 | 97.9 | 97.3 | 87.3 | 94.9 | 100 | — | |
| AdaThinkDriveRefine Policy=with DriveVer2026.07 | 90.9 | 98.2 | 97.8 | 87.3 | 94.5 | — | 100 | |
| ELF-VLARefine Policy=Original2026.07 | 91 | 98.9 | 98.1 | 85.3 | 96 | — | 100 | |
| ELF-VLARefine Policy=with DriveVer2026.07 | 91.5 | 98.7 | 97.9 | 87.2 | 95.7 | — | 100 | |
| SafeDrivePerception=Yes, Input=3xCam + L2026.05 | 91.6 | 99.5 | 99 | 84.3 | 97.2 | 100 | — | |
| DrivoRRefine Policy=Original2026.07 | 93.7 | 99 | 98.9 | 90 | 96.7 | — | 100 | |
| DrivoRRefine Policy=with DriveVer2026.07 | 93.8 | 99 | 99 | 90.1 | 96.6 | — | 100 | |
| Human2026.05 | 94.8 | 100 | 100 | 87.5 | 100 | 99.9 | — |