Zero-shot Cross-dataset Transfer on nuPlan 100-scene curated (evaluation set)
0.535ADECounterScene
Evaluation results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| CounterScenePrediction Horizon=3 s, Training Dataset=nuScenes, Rollout Protocol=10 Hz2026.03 | 0.535 | 1.293 | 0.9 | 17.6 | 5.4 | |
| STRIVEPrediction Horizon=3 s, Training Dataset=nuScenes, Rollout Protocol=10 Hz2026.03 | 0.672 | 1.629 | 0.4 | 4.5 | 4 | |
| CCDiffPrediction Horizon=3 s, Training Dataset=nuScenes, Rollout Protocol=10 Hz2026.03 | 0.688 | 1.734 | 0.8 | 17.2 | 14.1 | |
| CTGPrediction Horizon=3 s, Training Dataset=nuScenes, Rollout Protocol=10 Hz2026.03 | 0.801 | 1.959 | 0.4 | 7.3 | 5.1 | |
| CounterScenePrediction Horizon=5 s, Training Dataset=nuScenes, Rollout Protocol=10 Hz2026.03 | 1.111 | 2.782 | 1.4 | 16.4 | 22.8 | |
| CTG++Prediction Horizon=3 s, Training Dataset=nuScenes, Rollout Protocol=10 Hz2026.03 | 1.199 | 2.636 | 0.2 | 4.5 | 15.2 | |
| STRIVEPrediction Horizon=5 s, Training Dataset=nuScenes, Rollout Protocol=10 Hz2026.03 | 1.332 | 3.427 | 0.6 | 4.3 | 16.2 | |
| CCDiffPrediction Horizon=5 s, Training Dataset=nuScenes, Rollout Protocol=10 Hz2026.03 | 1.564 | 4.172 | 1.3 | 16.3 | 28.3 | |
| CTGPrediction Horizon=5 s, Training Dataset=nuScenes, Rollout Protocol=10 Hz2026.03 | 1.609 | 4.075 | 0.6 | 7 | 10.1 | |
| CounterScenePrediction Horizon=7 s, Training Dataset=nuScenes, Rollout Protocol=10 Hz2026.03 | 2.021 | 5.02 | 1.5 | 15.5 | 40.2 | |
| STRIVEPrediction Horizon=7 s, Training Dataset=nuScenes, Rollout Protocol=10 Hz2026.03 | 2.113 | 5.585 | 1 | 4.2 | 23.2 | |
| CTG++Prediction Horizon=5 s, Training Dataset=nuScenes, Rollout Protocol=10 Hz2026.03 | 2.282 | 5.233 | 0.1 | 4.8 | 13.1 | |
| CTGPrediction Horizon=7 s, Training Dataset=nuScenes, Rollout Protocol=10 Hz2026.03 | 2.513 | 6.462 | 1 | 6.5 | 18.2 | |
| CCDiffPrediction Horizon=7 s, Training Dataset=nuScenes, Rollout Protocol=10 Hz2026.03 | 2.534 | 6.789 | 1.5 | 15.6 | 40.2 | |
| CTG++Prediction Horizon=7 s, Training Dataset=nuScenes, Rollout Protocol=10 Hz2026.03 | 3.429 | 8.149 | 0.1 | 4.5 | 15.2 |