Trajectory Planning on nuScenes
0.14L2 Error (1s)Omnidrive
Evaluation results
| Method | Links | ||||||||
|---|---|---|---|---|---|---|---|---|---|
| OmnidriveModel Category=VLA & VLM-based, Parameters=7B2026.03 | 0.14 | 0.29 | 0.55 | 0.33 | 0 | 13 | 78 | 30 | |
| EMMAModel Category=VLA & VLM-based2026.03 | 0.14 | 0.29 | 0.54 | 0.32 | — | — | — | — | |
| VADModel Category=Traditional End2End & World Model-based2026.03 | 0.17 | 0.34 | 0.6 | 0.37 | 4 | 27 | 67 | 33 | |
| Drive-occWorldModel Category=Traditional End2End & World Model-based2026.03 | 0.17 | 0.31 | 0.49 | 0.32 | 2 | 24 | 62 | 29 | |
| ORIONModel Category=VLA & VLM-based, Parameters=7B2026.03 | 0.17 | 0.31 | 0.55 | 0.34 | 5 | 25 | 80 | 37 | |
| UniADModel Category=Traditional End2End & World Model-based2026.03 | 0.2 | 0.42 | 0.75 | 0.46 | 2 | 25 | 84 | 37 | |
| PreWorldModel Category=Traditional End2End & World Model-based2026.03 | 0.22 | 0.3 | 0.4 | 0.31 | 21 | 66 | 71 | 53 | |
| CogADLatency (ms)=92.9, LLM-based=false2025.05 | 0.24 | 0.45 | 0.74 | 0.48 | 0 | 2 | 15 | 6 | |
| SAMoE-VLAModel Category=VLA & VLM-based, Parameters=3.6B2026.03 | 0.24 | 0.27 | 0.35 | 0.29 | 1 | 18 | 60 | 26 | |
| ParaDriveLLM-based=false2025.05 | 0.25 | 0.46 | 0.74 | 0.48 | 14 | 23 | 39 | 25 | |
| TOKENLLM-based=true2025.05 | 0.26 | 0.71 | 1.47 | 0.81 | — | — | — | — | |
| DiffusionDriveLLM-based=false2025.05 | 0.27 | 0.54 | 0.9 | 0.57 | 3 | 5 | 16 | 8 | |
| SparseDriveLatency (ms)=136.9, LLM-based=false2025.05 | 0.29 | 0.55 | 0.91 | 0.58 | 1 | 2 | 13 | 6 | |
| VLM-ADLLM-based=true2025.05 | 0.3 | 0.54 | 0.8 | 0.55 | 11 | 15 | 38 | 21 | |
| SennaLLM-based=true2025.05 | 0.37 | 0.54 | 0.86 | 0.59 | 9 | 12 | 33 | 18 | |
| VADLatency (ms)=224.3, LLM-based=false2025.05 | 0.41 | 0.7 | 1.05 | 0.72 | 7 | 17 | 41 | 22 | |
| Drive-WMModel Category=Traditional End2End & World Model-based2026.03 | 0.43 | 0.77 | 1.2 | 0.8 | 10 | 21 | 48 | 26 | |
| Ego-MLPModel Category=Traditional End2End & World Model-based2026.03 | 0.46 | 0.76 | 1.12 | 0.78 | 21 | 35 | 58 | 38 | |
| UniADLatency (ms)=555.6, LLM-based=false2025.05 | 0.48 | 0.74 | 1.07 | 0.76 | 12 | 13 | 28 | 17 | |
| ori nuScenes2026.07 | 0.51 | 0.98 | 1.65 | — | — | — | — | — | |
| Point as Skeletonvariant=Image2026.07 | 0.53 | 1.06 | 1.84 | — | — | — | — | — | |
| DriveArena2026.07 | 0.56 | 1.1 | 1.89 | — | — | — | — | — | |
| Point as Skeletonvariant=Video2026.07 | 0.56 | 1.1 | 1.83 | — | — | — | — | — | |
| MagicDrive2026.07 | 0.57 | 1.14 | 1.95 | — | — | — | — | — | |
| Panacea2026.07 | 0.58 | 1.14 | 1.97 | — | — | — | — | — | |
| OpenEMMAModel Category=VLA & VLM-based, Parameters=7B2026.03 | 1.45 | 3.21 | 3.76 | 2.81 | — | — | — | — | |
| SparseDriveLoss=Standard l1 loss, Fine-tuning=true2026.04 | — | — | — | 0.59 | — | — | — | 0.111 | |
| SparseDriveLoss=EC-IoU, alpha=2, Fine-tuning=true2026.04 | — | — | — | 0.6 | — | — | — | 0.086 | |
| SparseDriveLoss=EC-IoU, alpha=4, Fine-tuning=true2026.04 | — | — | — | 0.6 | — | — | — | 0.078 | |
| UniADFine-tuning=Included for reference2026.04 | — | — | — | 0.73 | — | — | — | 0.61 |