Trajectory planning on VR-Drive Depth +1.0 m perturbation
0.29L2 Error (m)AD-MLP
Evaluation Results
| Method | Links | ||
|---|---|---|---|
| AD-MLPType=Ego-status only, Input modality=Ego-status without camera images2026.04 | 0.29 | 0.19 | |
| BEV-PlannerType=Ego-status only, Input modality=Ego-status without camera images2026.04 | 0.58 | 0.28 | |
| VADType=Perception-based (P), Input modality=Camera images2026.04 | 0.71 | 0.26 | |
| VR-DriveType=Perception-based (P), Input modality=Camera images2026.04 | 0.72 | 0.13 | |
| SparseDriveType=Perception-based (P), Input modality=Camera images2026.04 | 1.27 | 0.31 | |
| DiffusionDriveType=Perception-based (P), Input modality=Camera images2026.04 | 1.57 | 0.41 | |
| OursType=Self-Supervised (S), Input modality=Camera images2026.04 | 6.61 | 5.21 | |
| World4DriveType=Self-Supervised (S), Input modality=Camera images2026.04 | 7.1 | 6.4 |