Trajectory Planning on nuPlan Mini (val14)
98.08NRDiffusion Planner
Evaluation results
| Method | Links | ||
|---|---|---|---|
| Diffusion PlannerTraining Data Scenarios=10M, Training Data Frames=10M2025.10 | 98.08 | 95.7 | |
| Diffusion PlannerTraining Data Scenarios=300k, Training Data Frames=300k2025.10 | 88.94 | 94.62 | |
| TIWM PlannerTraining Data Scenarios=360, Training Data Frames=12k2025.10 | 88.05 | 89.54 | |
| Diffusion PlannerTraining Data Scenarios=10k, Training Data Frames=10k2025.10 | 77.64 | 86.33 |