Trajectory Planning on nuPlan 14-random (test)
94.8NR-CLSDiffusion Planner*
Evaluation Results
| Method | Links | ||
|---|---|---|---|
| Diffusion Planner*Type=Rule-based & Hybrid, rule-based post-processing=true2025.05 | 94.8 | 91.75 | |
| Plan-R1*Type=Rule-based & Hybrid, rule-based post-processing=true2025.05 | 94.64 | 93.71 | |
| Carplanner*Type=Rule-based & Hybrid, rule-based post-processing=true2025.05 | 94.07 | 91.1 | |
| Log-ReplayType=Expert, rule-based post-processing=false2025.05 | 94.03 | 75.86 | |
| PLUTO*Type=Rule-based & Hybrid, rule-based post-processing=true2025.05 | 92.23 | 90.29 | |
| Plan-R1Type=Learning-based, rule-based post-processing=false2025.05 | 91.23 | 90.04 | |
| PDM-Hybrid*Type=Rule-based & Hybrid, rule-based post-processing=true2025.05 | 90.1 | 91.28 | |
| PDM-Closed*Type=Rule-based & Hybrid, rule-based post-processing=true2025.05 | 90.05 | 91.64 | |
| PLUTOType=Learning-based, rule-based post-processing=false2025.05 | 89.9 | 78.62 | |
| Diffusion PlannerType=Learning-based, rule-based post-processing=false2025.05 | 89.19 | 82.93 | |
| PlanTFType=Learning-based, rule-based post-processing=false2025.05 | 85.62 | 79.58 | |
| Gameformer*Type=Rule-based & Hybrid, rule-based post-processing=true2025.05 | 83.88 | 82.05 | |
| IDMType=Rule-based & Hybrid, rule-based post-processing=false2025.05 | 70.39 | 72.42 | |
| PDM-OpenType=Learning-based, rule-based post-processing=false2025.05 | 52.81 | 57.23 | |
| UrbanDriverType=Learning-based, rule-based post-processing=false2025.05 | 51.83 | 67.15 |