ResearchBenchmarksVLM High-level Planning on nuScenes (val)For AI assistantsMarkdownContent indexVLM High-level Planning on nuScenes (val)Follow90.99Planning AccuracyFlowAD15.777235.303654.8374.3564Mar 11, 2026Evaluation resultsMethodMethodLinksPlanning AccuracyPath F1 (Go Straight)Path F1 (Turn Left)Path F1 (Turn Right)Speed F1 (Keep)Speed F1 (Accelerate)Speed F1 (Decelerate)Speed F1 (Stop)FPSFlowADFinetuned on nuScenes=...Finetuned on nuScenes=true2026.0390.9997.7660.7168.1796.9751.5340.3893.550.38SennaFinetuned on nuScenes=...Finetuned on nuScenes=true2026.0388.5496.8530.5346.9496.50090.820.43SennaFinetuned on nuScenes=...Finetuned on nuScenes=false2026.0318.6767.816.99078.1102.1231.710.43