Trajectory Planning on nuPlan 14-Hard (test)
85.96CLS-NR ScoreLog-Replay
Evaluation results
| Method | Links | |||
|---|---|---|---|---|
| Log-ReplayType=Expert, rule-based post-processing=false2025.05 | 85.96 | — | 68.8 | |
| PLUTO*Type=Rule-based & Hybrid, rule-based post-processing=true2025.05 | 80.08 | — | 76.88 | |
| CarPLANType=Learning, Venue=-2026.03 | 78.9 | 81.4 | 72.5 | |
| Diffusion Planner*Type=Rule-based & Hybrid, rule-based post-processing=true2025.05 | 78.87 | — | 82 | |
| Plan-R1*Type=Rule-based & Hybrid, rule-based post-processing=true2025.05 | 78.46 | — | 81.7 | |
| Plan-R1Type=Learning-based, rule-based post-processing=false2025.05 | 77.45 | — | 77.2 | |
| BeTopNetType=Learning, Venue=NeurIPS’242026.03 | 77.1 | 84 | 68.8 | |
| Diffusion-PlannerType=Learning, Venue=ICLR’252026.03 | 76 | 66.2 | 69.2 | |
| Diffusion PlannerType=Learning-based, rule-based post-processing=false2025.05 | 75.99 | — | 69.22 | |
| RaScType=Learning, Venue=ECCV’242026.03 | 75 | 86 | 63 | |
| PLUTOType=Learning, Venue=arXiv’242026.03 | 74 | 81.4 | 59.7 | |
| PlanAgent*Type=Rule-based & Hybrid, rule-based post-processing=true2025.05 | 72.51 | — | 76.82 | |
| PLUTOType=Learning-based, rule-based post-processing=false2025.05 | 70.03 | — | 59.74 | |
| PlanTFType=Learning, Venue=ICRA’242026.03 | 69.7 | 84.9 | 61.6 | |
| PlanTFType=Learning-based, rule-based post-processing=false2025.05 | 69.7 | — | 61.61 | |
| Gameformer*Type=Rule-based & Hybrid, rule-based post-processing=true2025.05 | 68.7 | — | 67.05 | |
| PDM-Hybrid*Type=Rule-based & Hybrid, rule-based post-processing=true2025.05 | 65.99 | — | 76.07 | |
| PDM-Closed*Type=Rule-based & Hybrid, rule-based post-processing=true2025.05 | 65.08 | — | 75.19 | |
| IDMType=Rule-based & Hybrid, rule-based post-processing=false2025.05 | 56.15 | — | 62.26 | |
| UrbanDriverType=Learning, Venue=PMLR’222026.03 | 50.4 | 77.2 | 50 | |
| UrbanDriverType=Learning-based, rule-based post-processing=false2025.05 | 50.4 | — | 49.95 | |
| PDM-OpenType=Learning-based, rule-based post-processing=false2025.05 | 33.51 | — | 35.83 | |
| PDM-OpenType=Learning, Venue=CoRL’232026.03 | 33.5 | 79.1 | 35.8 | |
| GameFormerType=Learning, Venue=ICCV’232026.03 | 7.1 | 61.7 | 6.7 |