Trajectory Planning on NuScenes (ST-P3/UniAD)
0.1L2 Error (m) (1s)VLA-World
Evaluation results
| Method | Links | ||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| VLA-WorldGeneration Type=Autoregressive, Additional ego-state information=true, LLM Backbone=Qwen2-VL-2B2026.04 | 0.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.35 | 0.8 | 0.42 | 1 | 5 | 0.3 | 0.12 | |
| EMMA+2025.09 | 0.13 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.27 | 0.48 | 0.29 | — | — | — | — | |
| Imprompt-VLA2025.09 | 0.13 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.27 | 0.53 | 0.3 | — | — | — | — | |
| AutoDrive-R²Model size=7B2025.09 | 0.13 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.19 | 0.25 | 0.19 | 0 | 7 | 12 | 7 | |
| OmniDrive2025.09 | 0.14 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.29 | 0.55 | 0.33 | 0 | 13 | 78 | 30 | |
| EMMA2025.09 | 0.14 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.29 | 0.54 | 0.32 | — | — | — | — | |
| OmniDrive*ego_status=true, method_category=VLM-based or World Model-based Methods2026.05 | 0.14 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.29 | 0.55 | 0.33 | 0 | 13 | 0.78 | 30 | |
| EMMA*ego_status=true, method_category=VLM-based or World Model-based Methods2026.05 | 0.14 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.29 | 0.54 | 0.32 | 3 | 8 | 0.25 | 12 | |
| FSDrive*ego_status=true, method_category=VLM-based or World Model-based Methods2026.05 | 0.14 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.25 | 0.46 | 0.28 | 3 | 6 | 0.21 | 10 | |
| Ego-MLP2025.09 | 0.15 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.32 | 0.59 | 0.35 | — | — | — | — | |
| DriveVLM-Dual2025.09 | 0.15 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.29 | 0.48 | 0.31 | 5 | 8 | 17 | 10 | |
| TPS-Drive* (Ours)ego_status=true, method_category=VLM-based or World Model-based Methods2026.05 | 0.15 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.29 | 0.53 | 0.32 | 0 | 5 | 0.25 | 10 | |
| BEV-Planner2025.09 | 0.16 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.32 | 0.57 | 0.35 | 0 | 29 | 73 | 34 | |
| BEV-Planner*ego_status=true, method_category=E2E-based Methods2026.05 | 0.16 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.32 | 0.57 | 0.35 | 0 | 29 | 0.73 | 34 | |
| VAD2025.09 | 0.17 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.34 | 0.6 | 0.37 | 7 | 17 | 41 | 22 | |
| RDA-Driver*ego_status=true, method_category=VLM-based or World Model-based Methods2026.05 | 0.17 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.37 | 0.69 | 0.41 | 1 | 5 | 0.26 | 11 | |
| FSDriveGeneration Type=Autoregressive, Additional ego-state information=true, LLM Backbone=Qwen2-VL-2B2026.04 | 0.18 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.39 | 0.77 | 0.45 | 0 | 6 | 0.42 | 0.16 | |
| DriveVLM2025.09 | 0.18 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.34 | 0.68 | 0.4 | 10 | 22 | 45 | 27 | |
| FSDrive*ego_status=true, method_category=VLM-based or World Model-based Methods2026.05 | 0.18 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.39 | 0.77 | 0.45 | 0 | 6 | 0.42 | 16 | |
| UniADGeneration Type=Non-Autoregressive, Additional ego-state information=true2026.04 | 0.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.42 | 0.75 | 0.46 | 2 | 25 | 0.84 | 0.37 | |
| UniAD*ego_status=true, method_category=E2E-based Methods2026.05 | 0.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.42 | 0.75 | 0.46 | 2 | 25 | 0.84 | 37 | |
| RDA-DriverGeneration Type=Autoregressive, Additional ego-state information=true, LLM Backbone=LLaVA-7B2026.04 | 0.23 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.73 | 1.54 | 0.8 | 0 | 13 | 0.83 | 0.32 | |
| RDA-Driver*ego_status=true, method_category=VLM-based or World Model-based Methods2026.05 | 0.23 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.73 | 1.54 | 0.83 | 0 | 13 | 0.83 | 32 | |
| TPS-Drive* (Ours)ego_status=true, method_category=VLM-based or World Model-based Methods2026.05 | 0.23 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.38 | 0.85 | 0.49 | 0 | 4 | 0.38 | 14 | |
| OmniDrive*ego_status=true, method_category=VLM-based or World Model-based Methods2026.05 | 0.25 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.49 | 1.11 | 0.62 | 2 | 13 | 0.65 | 27 | |
| PRIXego_status=false, method_category=E2E-based Methods2026.05 | 0.26 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.53 | 0.93 | 0.57 | 0 | 4 | 0.18 | 7 | |
| FeDGeneration Type=Autoregressive, Additional ego-state information=true, LLM Backbone=LLaVA-7B2026.04 | 0.27 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.53 | 0.94 | 0.58 | 0 | 4 | 0.52 | 0.19 | |
| FSDriveego_status=false, method_category=VLM-based or World Model-based Methods2026.05 | 0.28 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.52 | 0.8 | 0.53 | 6 | 13 | 0.32 | 17 | |
| BEV-Plannerego_status=false, method_category=E2E-based Methods2026.05 | 0.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.52 | 0.83 | 0.55 | 10 | 37 | 1.3 | 59 | |
| MomADego_status=false, method_category=E2E-based Methods2026.05 | 0.31 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.57 | 0.91 | 0.6 | 1 | 5 | 0.22 | 9 | |
| HE-Driveego_status=false, method_category=E2E-based Methods2026.05 | 0.31 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.58 | 0.93 | 0.61 | 1 | 5 | 0.16 | 7 | |
| DiffusionDriveego_status=false, method_category=E2E-based Methods2026.05 | 0.31 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.62 | 1.03 | 0.65 | 3 | 6 | 0.19 | 9 | |
| TPS-Drive (Ours)ego_status=false, method_category=VLM-based or World Model-based Methods2026.05 | 0.32 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.53 | 0.81 | 0.55 | 1 | 13 | 0.43 | 19 | |
| ELMGeneration Type=Autoregressive, LLM Backbone=BLIP2-2.7B2026.04 | 0.34 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 1.23 | 2.57 | 1.38 | 12 | 50 | 2.36 | 0.99 | |
| AutoDrive-R²Model size=3B2025.09 | 0.35 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.49 | 0.62 | 0.49 | 13 | 44 | 87 | 48 | |
| Doe-1ego_status=false, method_category=VLM-based or World Model-based Methods2026.05 | 0.37 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.67 | 1.07 | 0.7 | 2 | 14 | 0.47 | 21 | |
| VLA-WorldGeneration Type=Autoregressive, Additional ego-state information=false, LLM Backbone=Qwen2-VL-2B2026.04 | 0.38 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.74 | 1.38 | 0.83 | 2 | 8 | 0.36 | 0.16 | |
| OccWorldego_status=false, method_category=VLM-based or World Model-based Methods2026.05 | 0.39 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.73 | 1.18 | 0.77 | 11 | 19 | 0.67 | 32 | |
| FSDriveGeneration Type=Autoregressive, LLM Backbone=Qwen2-VL-2B2026.04 | 0.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.89 | 1.6 | 0.96 | 7 | 12 | 1.02 | 0.4 | |
| OmniDriveego_status=false, method_category=VLM-based or World Model-based Methods2026.05 | 0.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.8 | 1.32 | 0.84 | 4 | 46 | 2.32 | 94 | |
| FSDriveego_status=false, method_category=VLM-based or World Model-based Methods2026.05 | 0.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.89 | 1.6 | 0.96 | 7 | 12 | 1.02 | 40 | |
| UniAD2025.09 | 0.42 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.64 | 0.91 | 0.66 | 62 | 58 | 63 | 61 | |
| TPS-Drive (Ours)ego_status=false, method_category=VLM-based or World Model-based Methods2026.05 | 0.42 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.88 | 1.52 | 0.94 | 2 | 17 | 1.19 | 46 | |
| MomADego_status=false, method_category=E2E-based Methods2026.05 | 0.43 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.88 | 1.62 | 0.98 | 6 | 16 | 0.68 | 30 | |
| DiffusionDriveego_status=false, method_category=E2E-based Methods2026.05 | 0.43 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 1.01 | 1.83 | 1.09 | 5 | 14 | 0.55 | 25 | |
| Qwen-2.5-VLModel size=7B2025.09 | 0.46 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 1.33 | 2.55 | 1.45 | 10 | 18 | 24 | 17 | |
| PreWorldGeneration Type=Non-Autoregressive, Additional ego-state information=false2026.04 | 0.49 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 1.22 | 2.32 | 1.34 | 19 | 57 | 2.65 | 1.14 | |
| Doe-1Generation Type=Autoregressive, LLM Backbone=Lumina-mGPT-7B2026.04 | 0.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 1.18 | 2.11 | 1.26 | 4 | 37 | 1.19 | 0.53 | |
| Doe-1ego_status=false, method_category=VLM-based or World Model-based Methods2026.05 | 0.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 1.18 | 2.11 | 1.26 | 4 | 37 | 1.19 | 53 | |
| OccWorldGeneration Type=Autoregressive, LLM Backbone=GPT3-like2026.04 | 0.52 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 1.27 | 2.41 | 1.4 | 12 | 40 | 2.08 | 0.87 | |
| LLaMA-3.2-11B-Vision2025.09 | 0.52 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 1.42 | 2.68 | 1.54 | — | — | — | — | |
| OccWorldego_status=false, method_category=VLM-based or World Model-based Methods2026.05 | 0.52 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 1.27 | 2.41 | 1.4 | 12 | 40 | 2.08 | 87 | |
| OmniDriveego_status=false, method_category=VLM-based or World Model-based Methods2026.05 | 0.54 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 1.23 | 2.53 | 1.43 | 10 | 43 | 1.51 | 68 | |
| UniADGeneration Type=Non-Autoregressive, Additional ego-state information=false2026.04 | 0.59 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 1.01 | 1.48 | 1.03 | 16 | 51 | 1.64 | 0.77 | |
| DeepSeek-VL2-16B2025.09 | 0.66 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 1.68 | 2.92 | 1.75 | — | — | — | — | |
| ST-P3*ego_status=true, method_category=E2E-based Methods2026.05 | 1.33 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 2.11 | 2.9 | 2.11 | 23 | 62 | 1.27 | 71 | |
| Llama-3.2-11B-Vision2025.09 | 1.54 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 3.31 | 3.91 | 2.92 | — | — | — | — | |
| Qwen-2.5-VLModel size=3B2025.09 | 2.69 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 4.16 | 5.78 | 4.21 | 32 | 54 | 78 | 55 | |
| Agent-DriverBackbone LLM/VLM=GPT-3.5-Turbo2025.12 | — | 0.16 | 0.34 | 0.61 | 0.37 | 0.02 | 0.07 | 0.18 | 0.09 | 0.22 | 0.65 | 1.34 | 0.74 | 0.02 | 0.13 | 0.48 | 0.21 | — | — | — | — | — | — | — | |
| AutoVLA*Ego Status=true, LLM=Qwen2.5-VL-3B2026.04 | — | 0.25 | 0.46 | 0.73 | 0.48 | 0.07 | 0.07 | 0.26 | 0.13 | 0.33 | 0.81 | 1.45 | 0.86 | 0.08 | 0.11 | 0.85 | 0.35 | — | — | — | — | — | — | — | |
| BEV-PlannerEgo Status=false2026.04 | — | 0.3 | 0.52 | 0.83 | 0.55 | 0.1 | 0.37 | 1.3 | 0.59 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| BEV-PlannerGeneration Type=Non-Autoregressive, Additional ego-state information=false2026.04 | — | 0.3 | 0.52 | 0.83 | 0.55 | 0.1 | 0.37 | 1.3 | 0.59 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| BEV-PlannerGeneration Type=Non-Autoregressive, Additional ego-state information=true2026.04 | — | 0.16 | 0.32 | 0.57 | 0.35 | 0 | 0.29 | 0.73 | 0.34 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| BEV-Planner*Ego Status=true2026.04 | — | 0.16 | 0.32 | 0.57 | 0.35 | 0 | 0.29 | 0.73 | 0.34 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Doe-1Generation Type=Autoregressive, LLM Backbone=Lumina-mGPT-7B2026.04 | — | 0.37 | 0.67 | 1.07 | 0.7 | 0.02 | 0.14 | 0.47 | 0.21 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| DriveVLMBackbone LLM/VLM=Qwen-VL-7B2025.12 | — | 0.18 | 0.34 | 0.68 | 0.4 | 0.1 | 0.22 | 0.45 | 0.27 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ELMEgo Status=false, LLM=BLIP2-2.7B2026.04 | — | — | — | — | — | — | — | — | — | 0.34 | 1.23 | 2.57 | 1.38 | 0.12 | 0.5 | 2.36 | 0.99 | — | — | — | — | — | — | — | |
| EMMABackbone LLM/VLM=Gemini2025.12 | — | 0.14 | 0.29 | 0.54 | 0.32 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| EMMAGeneration Type=Autoregressive, Additional ego-state information=true, LLM Backbone=Gemini 1.0 Nano-12026.04 | — | 0.14 | 0.29 | 0.54 | 0.32 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| FSDriveEgo Status=false, LLM=Qwen2-VL-3B2026.04 | — | 0.28 | 0.52 | 0.8 | 0.53 | 0.06 | 0.13 | 0.32 | 0.17 | 0.4 | 0.89 | 1.6 | 0.96 | 0.07 | 0.12 | 1.02 | 0.4 | — | — | — | — | — | — | — | |
| FSDriveGeneration Type=Autoregressive, LLM Backbone=Qwen2-VL-2B2026.04 | — | 0.28 | 0.52 | 0.8 | 0.53 | 0.06 | 0.13 | 0.32 | 0.17 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| FSDriveGeneration Type=Autoregressive, Additional ego-state information=true, LLM Backbone=Qwen2-VL-2B2026.04 | — | 0.14 | 0.25 | 0.46 | 0.28 | 0.03 | 0.06 | 0.21 | 0.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| FSDrive*†Ego Status=true, LLM=Qwen2-VL-3B2026.04 | — | 0.14 | 0.25 | 0.46 | 0.28 | 0.03 | 0.06 | 0.21 | 0.1 | 0.18 | 0.39 | 0.77 | 0.45 | 0 | 0.06 | 0.42 | 0.16 | — | — | — | — | — | — | — | |
| GPT-DriverBackbone LLM/VLM=GPT-3.52025.12 | — | 0.2 | 0.4 | 0.7 | 0.44 | 0.04 | 0.12 | 0.36 | 0.17 | 0.27 | 0.74 | 1.52 | 0.84 | 0.07 | 0.15 | 1.1 | 0.44 | — | — | — | — | — | — | — | |
| HPPEgo Status=false2026.04 | — | 0.41 | 0.61 | 0.86 | 0.63 | 0.03 | 0.08 | 0.24 | 0.12 | 0.48 | 0.91 | 1.54 | 0.97 | 0.03 | 0.17 | 0.68 | 0.29 | — | — | — | — | — | — | — | |
| HPP*Ego Status=true2026.04 | — | 0.26 | 0.37 | 0.59 | 0.4 | 0.02 | 0.05 | 0.11 | 0.06 | 0.3 | 0.61 | 1.15 | 0.72 | 0.03 | 0.07 | 0.35 | 0.15 | — | — | — | — | — | — | — | |
| InsightDrive2025.12 | — | 0.23 | 0.41 | 0.68 | 0.44 | 0.09 | 0.1 | 0.27 | 0.15 | 0.3 | 0.72 | 1.41 | 0.81 | 0.08 | 0.15 | 0.84 | 0.36 | — | — | — | — | — | — | — | |
| LLaViDABackbone LLM/VLM=LLaMA-3-8B2025.12 | — | 0.14 | 0.28 | 0.51 | 0.31 | 0.03 | 0.07 | 0.19 | 0.1 | 0.19 | 0.54 | 1.09 | 0.61 | 0.06 | 0.09 | 0.5 | 0.22 | — | — | — | — | — | — | — | |
| OccWorldEgo Status=false, LLM=GPT3-like2026.04 | — | 0.39 | 0.73 | 1.18 | 0.77 | 0.11 | 0.19 | 0.67 | 0.32 | 0.52 | 1.27 | 2.41 | 1.4 | 0.12 | 0.4 | 2.08 | 0.87 | — | — | — | — | — | — | — | |
| OccWorldGeneration Type=Autoregressive, LLM Backbone=GPT3-like2026.04 | — | 0.39 | 0.73 | 1.18 | 0.77 | 0.11 | 0.19 | 0.67 | 0.32 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| OmniDriveEgo Status=false, LLM=LLaVA-7B2026.04 | — | 0.4 | 0.8 | 1.32 | 0.84 | 0.04 | 0.46 | 2.32 | 0.94 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| OmniDriveGeneration Type=Autoregressive, LLM Backbone=LLaVA-7B2026.04 | — | 0.4 | 0.8 | 1.32 | 0.84 | 0.04 | 0.46 | 2.32 | 0.94 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| OmniDriveGeneration Type=Autoregressive, Additional ego-state information=true, LLM Backbone=LLaVA-7B2026.04 | — | 0.14 | 0.29 | 0.55 | 0.33 | 0 | 0.13 | 0.78 | 0.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| OmniDrive*Ego Status=true, LLM=LLaVA-7B2026.04 | — | 0.14 | 0.29 | 0.55 | 0.33 | 0 | 0.13 | 0.78 | 0.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| OpenDriveVLABackbone LLM/VLM=Qwen2.5-7B2025.12 | — | 0.15 | 0.31 | 0.55 | 0.33 | 0.01 | 0.08 | 0.21 | 0.1 | 0.2 | 0.58 | 1.21 | 0.66 | 0 | 0.22 | 0.55 | 0.25 | — | — | — | — | — | — | — | |
| OpenDriveVLA*Ego Status=true, LLM=Qwen2.5-VL-3B2026.04 | — | 0.14 | 0.3 | 0.55 | 0.33 | 0.02 | 0.07 | 0.22 | 0.1 | 0.19 | 0.58 | 1.24 | 0.67 | 0.02 | 0.18 | 0.7 | 0.3 | — | — | — | — | — | — | — | |
| OpenEMMABackbone LLM/VLM=Qwen-VL-7B2025.12 | — | 1.45 | 3.21 | 3.76 | 2.81 | 0.31 | 0.77 | 1.45 | 0.84 | 1.67 | 4.11 | 5.12 | 3.63 | 0.32 | 0.89 | 1.64 | 0.95 | — | — | — | — | — | — | — | |
| Orion*Ego Status=true, LLM=LLaVA-7B2026.04 | — | 0.17 | 0.31 | 0.55 | 0.34 | 0.05 | 0.25 | 0.8 | 0.37 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RDA-DriverBackbone LLM/VLM=LLaVA-7B2025.12 | — | 0.17 | 0.37 | 0.69 | 0.4 | 0.01 | 0.05 | 0.26 | 0.1 | 0.23 | 0.73 | 1.54 | 0.8 | 0 | 0.13 | 0.83 | 0.32 | — | — | — | — | — | — | — | |
| RDA-DriverGeneration Type=Autoregressive, Additional ego-state information=true, LLM Backbone=LLaVA-7B2026.04 | — | 0.17 | 0.37 | 0.69 | 0.4 | 0.01 | 0.05 | 0.26 | 0.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| RDA-Driver*Ego Status=true, LLM=LLaVA-7B2026.04 | — | 0.17 | 0.37 | 0.69 | 0.4 | 0.01 | 0.05 | 0.26 | 0.1 | 0.23 | 0.73 | 1.54 | 0.8 | 0 | 0.13 | 0.83 | 0.32 | — | — | — | — | — | — | — | |
| SparseDrive‡Ego Status=false2026.04 | — | 0.28 | 0.53 | 0.84 | 0.55 | 0.03 | 0.05 | 0.15 | 0.08 | 0.38 | 0.92 | 1.66 | 0.99 | 0.02 | 0.08 | 0.53 | 0.21 | — | — | — | — | — | — | — | |
| ST-P32025.12 | — | 1.33 | 2.11 | 2.9 | 2.11 | 0.23 | 0.62 | 1.27 | 0.71 | 1.51 | 2.85 | 4.22 | 2.86 | 0.18 | 0.78 | 1.96 | 0.97 | — | — | — | — | — | — | — | |
| ST-P3Generation Type=Non-Autoregressive, Additional ego-state information=true2026.04 | — | 1.33 | 2.11 | 2.9 | 2.11 | 0.23 | 0.62 | 1.27 | 0.71 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ST-P3*Ego Status=true2026.04 | — | 1.33 | 2.11 | 2.9 | 2.11 | 0.23 | 0.62 | 1.27 | 0.71 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| UniAD2025.12 | — | 0.44 | 0.67 | 0.96 | 0.69 | 0.04 | 0.08 | 0.23 | 0.12 | 0.48 | 0.96 | 1.65 | 1.03 | 0.05 | 0.17 | 0.71 | 0.31 | — | — | — | — | — | — | — | |
| UniADEgo Status=false2026.04 | — | 0.45 | 0.7 | 1.04 | 0.73 | 0.62 | 0.58 | 0.63 | 0.61 | 0.59 | 1.01 | 1.48 | 1.03 | 0.16 | 0.51 | 1.64 | 0.77 | — | — | — | — | — | — | — | |
| UniAD*Ego Status=true2026.04 | — | — | — | — | — | — | — | — | — | 0.2 | 0.42 | 0.75 | 0.46 | 0.02 | 0.25 | 0.84 | 0.37 | — | — | — | — | — | — | — | |
| UniDriveVLA-BaseEgo Status=false, LLM=Qwen3-VL-2B2026.04 | — | 0.28 | 0.51 | 0.82 | 0.54 | 0.08 | 0.13 | 0.31 | 0.17 | 0.37 | 0.89 | 1.62 | 0.96 | 0.08 | 0.27 | 0.88 | 0.41 | — | — | — | — | — | — | — | |
| UniDriveVLA-Base*Ego Status=true, LLM=Qwen3-VL-2B2026.04 | — | 0.23 | 0.4 | 0.65 | 0.43 | 0.04 | 0.09 | 0.18 | 0.1 | 0.3 | 0.69 | 1.32 | 0.77 | 0.03 | 0.13 | 0.52 | 0.23 | — | — | — | — | — | — | — |