Trajectory Planning on nuScenes 1.0 (test)
0.29L2 Error (Average)AD-MLP
Evaluation results
| Method | Links | ||||||||
|---|---|---|---|---|---|---|---|---|---|
| AD-MLPPerception Information=false, High-level Command=true, Velocity=true, Acceleration=true, Trajectory=true2023.05 | 0.29 | 0.2 | 0.26 | 0.41 | 0.17 | 0.18 | 0.24 | 0.19 | |
| AD-MLPPerception Information=false, High-level Command=false, Velocity=true, Acceleration=true, Trajectory=true2023.05 | 0.35 | 0.24 | 0.32 | 0.49 | 0.18 | 0.22 | 0.28 | 0.23 | |
| VAD-BasePerception Information=true, High-level Command=true, Velocity=true, Acceleration=true, Trajectory=true2023.05 | 0.37 | 0.17 | 0.34 | 0.6 | 0.07 | — | 0.24 | 0.14 | |
| VAD-TinyPerception Information=true, High-level Command=true, Velocity=true, Acceleration=true, Trajectory=true2023.05 | 0.41 | 0.2 | 0.38 | 0.65 | 0.1 | 0.12 | 0.27 | 0.16 | |
| AD-MLPPerception Information=false, High-level Command=false, Velocity=false, Acceleration=true, Trajectory=true2023.05 | 0.49 | 0.33 | 0.48 | 0.66 | 0.21 | 0.29 | 0.4 | 0.3 | |
| VLP-VADVLP=true, zero-shot=true2024.01 | 0.63 | — | — | — | — | — | — | 20 | |
| VADVLP=false, zero-shot=true2024.01 | 0.78 | — | — | — | — | — | — | 39 | |
| VLP-UniADVLP=true, zero-shot=true2024.01 | 0.87 | — | — | — | — | — | — | 34 | |
| AD-MLPPerception Information=false, High-level Command=false, Velocity=false, Acceleration=false, Trajectory=true2023.05 | 0.97 | 0.53 | 0.91 | 1.48 | 0.17 | 0.46 | 0.83 | 0.49 | |
| UniADPerception Information=true, High-level Command=true2023.05 | 1.03 | 0.48 | 0.96 | 1.65 | 0.05 | 0.17 | 0.71 | 0.31 | |
| UniADVLP=false, zero-shot=true2024.01 | 1.05 | — | — | — | — | — | — | 37 | |
| FFPerception Information=true, High-level Command=false2023.05 | 1.43 | 0.55 | 1.2 | 2.54 | 0.06 | 0.17 | 1.07 | 0.43 | |
| EOPerception Information=true, High-level Command=false2023.05 | 1.6 | 0.67 | 1.36 | 2.78 | 0.04 | 0.09 | 0.88 | 0.33 | |
| ST-P3Perception Information=true, High-level Command=true2023.05 | 2.11 | 1.33 | 2.11 | 2.9 | 0.23 | 0.62 | 1.27 | 0.71 | |
| NMPPerception Information=true, High-level Command=false2023.05 | — | — | — | 2.31 | — | — | 1.92 | — | |
| SA-NMPPerception Information=true, High-level Command=false2023.05 | — | — | — | 2.05 | — | — | 1.59 | — |