Trajectory Planning on NuPlan 14 (val)
94.72NR MetricPlan-R1*
Evaluation results
| Method | Links | ||||||||
|---|---|---|---|---|---|---|---|---|---|
| Plan-R1*Type=Rule-based & Hybrid, rule-based post-processing=true2025.05 | 94.72 | — | — | — | — | — | — | 93.54 | |
| Diffusion Planner*Type=Rule-based & Hybrid, rule-based post-processing=true2025.05 | 94.26 | — | — | — | — | — | — | 92.9 | |
| Log-replayType=Expert2025.10 | 93.53 | — | — | — | — | — | — | 80.32 | |
| Log-ReplayType=Expert, rule-based post-processing=false2025.05 | 93.53 | — | — | — | — | — | — | 80.32 | |
| PlanAgent*Type=Rule-based & Hybrid, rule-based post-processing=true2025.05 | 93.26 | — | — | — | — | — | — | 92.75 | |
| PLUTO*Type=Rule-based & Hybrid, rule-based post-processing=true2025.05 | 92.88 | — | — | — | — | — | — | 89.84 | |
| PDM-ClosedType=Rule-based & Hybrid2025.10 | 92.84 | — | — | — | — | — | — | 92.12 | |
| PDM-Closed*Type=Rule-based & Hybrid, rule-based post-processing=true2025.05 | 92.84 | — | — | — | — | — | — | 92.12 | |
| PDM-HybridType=Rule-based & Hybrid2025.10 | 92.77 | — | — | — | — | — | — | 92.11 | |
| PDM-Hybrid*Type=Rule-based & Hybrid, rule-based post-processing=true2025.05 | 92.77 | — | — | — | — | — | — | 92.11 | |
| Diffusion PlannerType=Learning-based2025.10 | 89.87 | — | — | — | — | — | — | 82.8 | |
| Diffusion PlannerType=Learning-based, rule-based post-processing=false2025.05 | 89.87 | — | — | — | — | — | — | 82.8 | |
| Plan-R1Type=Learning-based, rule-based post-processing=false2025.05 | 88.98 | — | — | — | — | — | — | 87.69 | |
| PLUTOType=Learning-based, Refinement=w/o refine., Pre-searched reference lines=true2025.10 | 88.89 | — | — | — | — | — | — | 78.11 | |
| PLUTOType=Learning-based, rule-based post-processing=false2025.05 | 88.89 | — | — | — | — | — | — | 78.11 | |
| PlanTFType=Learning-based2025.10 | 84.27 | — | — | — | — | — | — | 76.95 | |
| PlanTFType=Learning-based, rule-based post-processing=false2025.05 | 84.27 | — | — | — | — | — | — | 76.95 | |
| GameFormerType=Rule-based & Hybrid2025.10 | 79.94 | — | — | — | — | — | — | 79.78 | |
| Gameformer*Type=Rule-based & Hybrid, rule-based post-processing=true2025.05 | 79.94 | — | — | — | — | — | — | 79.78 | |
| IDMType=Rule-based & Hybrid2025.10 | 75.6 | — | — | — | — | — | — | 77.33 | |
| IDMType=Rule-based & Hybrid, rule-based post-processing=false2025.05 | 75.6 | — | — | — | — | — | — | 77.33 | |
| UrbanDriverType=Learning-based2025.10 | 68.57 | — | — | — | — | — | — | 64.11 | |
| UrbanDriverType=Learning-based, rule-based post-processing=false2025.05 | 68.57 | — | — | — | — | — | — | 64.11 | |
| PDM-OpenType=Learning-based, Pre-searched reference lines=true2025.10 | 53.53 | — | — | — | — | — | — | 54.24 | |
| PDM-OpenType=Learning-based, rule-based post-processing=false2025.05 | 53.53 | — | — | — | — | — | — | 54.24 | |
| TIWM Planner(Ours)Type=Learning-based2025.10 | 30.46 | — | — | — | — | — | — | 34.64 | |
| GameFormerType=Learning-based, Refinement=w/o refine.2025.10 | 13.32 | — | — | — | — | — | — | 8.69 | |
| GameFormer2026.02 | — | 79.78 | 82.5 | 72.5 | 65 | 98 | 90 | — | |
| GameFormerRefinement=None2026.02 | — | 12.69 | 42.2 | 27.5 | 23 | 98.53 | 57 | — | |
| IDM2026.02 | — | 75.43 | 86.12 | 78.93 | 99.41 | 89 | 95.43 | — | |
| PDMType=Closed2026.02 | — | 91.72 | 86.51 | 87.1 | 100 | 97.21 | 93.47 | — | |
| PDMType=Hybrid2026.02 | — | 90.71 | 86.5 | 76.2 | 100 | 92.51 | 98.12 | — | |
| PDMType=Open*2026.02 | — | 54.24 | 65.75 | 69.5 | 93.5 | 98.5 | 95 | — | |
| PlanTF2026.02 | — | 84.75 | 89 | 87.5 | 99.5 | 96 | 99.5 | — | |
| PLUTO2026.02 | — | 90.68 | 89.95 | 87.64 | 99.45 | 94.47 | 97.79 | — | |
| PLUTORefinement=None2026.02 | — | 88.11 | 92.39 | 87.61 | 99.54 | 97.19 | 98.78 | — | |
| SDD Planner2026.02 | — | 91.83 | 96 | 90.79 | 100 | 94 | 100 | — | |
| UrbanDriver2026.02 | — | 54.11 | 67.32 | 70.84 | 95.34 | 92.15 | 94.76 | — |