Trajectory planning on VR-Drive Pitch +5° perturbation
0.29L2 Distance (m)AD-MLP
Evaluation Results
| Method | Links | ||
|---|---|---|---|
| AD-MLPType=Ego-status only, Input modality=Ego-status without camera images2026.04 | 0.29 | 19 | |
| OursType=Self-Supervised (S), Input modality=Camera images2026.04 | 0.54 | 30 | |
| BEV-PlannerType=Ego-status only, Input modality=Ego-status without camera images2026.04 | 0.59 | 37 | |
| VR-DriveType=Perception-based (P), Input modality=Camera images2026.04 | 0.6 | 6 | |
| SparseDriveType=Perception-based (P), Input modality=Camera images2026.04 | 0.66 | 15 | |
| DiffusionDriveType=Perception-based (P), Input modality=Camera images2026.04 | 0.67 | 11 | |
| VADType=Perception-based (P), Input modality=Camera images2026.04 | 0.68 | 28 | |
| World4DriveType=Self-Supervised (S), Input modality=Camera images2026.04 | 0.83 | 48 |