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Closed-loop Planning on nuPlan random 14 (test)

94.8NR

Diffusion-Planner

Updated 25d ago

Evaluation Results

Method
Diffusion-Planner 2026.03	94.8	91.7	-	-	-	-	-
CarPLAN 2026.03	94.6	92.5	-	-	-	-	-
CarPlanner 2026.03	94.1	91.1	-	-	-	-	-
Log-replay 2026.01	94.03	75.86	-	-	-	-	-
Log-replay 2026.03	94	75.9	-	-	-	-	-
PLUTO 2026.03	92.2	90.2	-	-	-	-	-
SAH-Drive 2026.01	91.18	89.27	-	-	-	-	-
RaSc 2026.03	91	82	-	-	-	-	-
PlannerRFT 2026.01	90.76	85.8	-	-	-	-	-
PDM-Closed 2026.03	90.2	91.2	-	-	-	-	-
PDM-Hybrid 2026.03	90.2	91.2	-	-	-	-	-
PDM-Closed 2026.01	90.05	91.63	-	-	-	-	-
PLUTO 2026.01	89.9	78.62	-	-	-	-	-
Flow Planner 2026.01	89.88	82.93	-	-	-	-	-
Diffusion PlannerDPM 2026.01	89.19	82.93	-	-	-	-	-
Diffusion PlannerDDIM 2026.01	89.14	82.63	-	-	-	-	-
Diffusion-es 2026.01	88.2	84.2	-	-	-	-	-
ReflexDiffusion 2026.01	86.4	71.57	-	-	-	-	-
PlanTF 2026.01	85.62	79.58	-	-	-	-	-
GameFormer 2026.03	83.9	82.1	-	-	-	-	-
Gameformer 2026.01	82.6	79.49	-	-	-	-	-
Pluto 2026.01	81.67	75.95	-	-	-	-	-
Diffusion Planner 2026.01	76.44	70.21	-	-	-	-	-
PDM-Hybrid 2026.01	75.97	82.17	-	-	-	-	-
PDM-Closed 2026.01	75.69	82.17	-	-	-	-	-
PlanTF 2026.01	73.66	67.81	-	-	-	-	-
Diffusion Planner 2026.01	71.6	82.88	-	-	-	-	-
IDM 2026.03	70.4	74.4	-	-	-	-	-
IDM 2026.01	70.39	74.42	-	-	-	-	-
IDM 2026.01	67.61	64.66	-	-	-	-	-
PDM-Open 2026.01	52.81	57.23	-	-	-	-	-
PlanCNN 2026.01	48.2	51.38	-	-	-	-	-
Diffusion Planner 2026.01	38.45	44.88	-	-	-	-	-
UrbanDriver 2026.01	29.17	33.27	-	-	-	-	-
GameFormer 2026.01	11.36	9.31	-	-	-	-	-
Log-Replay 2026.05	-	-	94.03	96.93	75.86	78.16	-
IDM 2026.05	-	-	70.39	77.01	72.42	78.54	-
PDM-Closed 2026.05	-	-	90.05	94.64	91.64	96.55	-
UrbanDriverOL 2026.05	-	-	63.57	70.88	60.92	66.28	-
RasterModel 2026.05	-	-	67.7	73.56	68.64	74.33	-
PlanTF 2026.05	-	-	85.6	90.8	78.86	85.44	-
Diffusion-Planner 2026.05	-	-	88.98	93.87	83.21	90.42	-
PDM-Hybrid 2026.05	-	-	90.1	95.02	91.29	96.17	-
GameFormer 2026.05	-	-	76.89	85.29	77.8	86.59	-
Diffusion-ES 2026.05	-	-	87.7	94.25	87.18	93.87	-
PLUTO 2026.05	-	-	91.93	95.79	89.94	96.17	-
CALMM-Drive-L 2026.05	-	-	86.7	95.02	87.11	95.79	-
CALMM-Drive-M 2026.05	-	-	81.82	92.72	83.37	95.02	-
Our Approach 2026.05	-	-	86.41	96.93	86.37	96.17	-
Log-Replay 2026.06	-	-	94.03	96.93	75.86	78.16	-
IDM 2026.06	-	-	70.39	77.01	72.42	78.54	-
PDM-Closed 2026.06	-	-	90.05	94.64	91.64	96.55	-
GC-PGP 2026.06	-	-	61.95	72.03	56.46	65.13	-
UrbanDriverOL 2026.06	-	-	63.57	70.88	60.92	66.28	-
RasterModel 2026.06	-	-	67.7	73.56	68.64	74.33	-
PlanTF 2026.06	-	-	85.6	90.8	78.86	85.44	-
Diffusion-Planner 2026.06	-	-	88.98	93.87	83.21	90.42	-
PDM-Hybrid 2026.06	-	-	90.1	95.02	91.29	96.17	-
GameFormer 2026.06	-	-	76.89	85.29	77.8	86.59	-
Diffusion-ES 2026.06	-	-	87.7	94.25	87.18	93.87	-
PLUTO 2026.06	-	-	91.93	95.79	89.94	96.17	-
CALMM-Drive-L 2026.06	-	-	86.7	95.02	87.11	95.79	-
CALMM-Drive-M 2026.06	-	-	81.82	92.72	83.37	95.02	-
LUNA-AD 2026.06	-	-	86.98	96.93	87.02	96.55	-
Expert 2026.06	-	-	-	-	-	-	94.03
Expert 2026.06	-	-	-	-	-	-	75.86
UrbanDriver 2026.06	-	-	-	-	-	-	51.83
UrbanDriver 2026.06	-	-	-	-	-	-	67.15
PDM-Open 2026.06	-	-	-	-	-	-	52.81
PDM-Open 2026.06	-	-	-	-	-	-	57.23
PlanTF 2026.06	-	-	-	-	-	-	85.62
PlanTF 2026.06	-	-	-	-	-	-	79.58
PLUTO 2026.06	-	-	-	-	-	-	89.9
PLUTO 2026.06	-	-	-	-	-	-	78.62
Diffusion Planner 2026.06	-	-	-	-	-	-	89.19
Diffusion Planner 2026.06	-	-	-	-	-	-	82.93
Flow Planner 2026.06	-	-	-	-	-	-	89.88
Flow Planner 2026.06	-	-	-	-	-	-	82.93
DFP 2026.06	-	-	-	-	-	-	90.69
DFP 2026.06	-	-	-	-	-	-	81.96
DFP-FM 2026.06	-	-	-	-	-	-	90.62
DFP-FM 2026.06	-	-	-	-	-	-	83.59
Plan-R1 2026.06	-	-	-	-	-	-	91.23
Plan-R1 2026.06	-	-	-	-	-	-	90.04
R2LPL-base 2026.06	-	-	-	-	-	-	70.74
R2LPL-base 2026.06	-	-	-	-	-	-	72.96
R2LPL-ROCL-5 2026.06	-	-	-	-	-	-	92.25
R2LPL-ROCL-5 2026.06	-	-	-	-	-	-	87.99
R2LPL-ROCL-10-best 2026.06	-	-	-	-	-	-	93.94
R2LPL-ROCL-10-best 2026.06	-	-	-	-	-	-	88.2