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Closed-loop simulation on nuPlan
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42.1
Collision Rate (%)
SAFE-SIM
39.976
54.313
68.65
82.987
Jul 5, 2026
Collision Rate (%)
Mean Speed (m/s)
Task Success Rate (%)
Completion Score
Outlier Rate (%)
Regression Metric
Route Success Score
Updated 19d ago
Evaluation Results
Method
Method
Links
Collision Rate (%)
Mean Speed (m/s)
Task Success Rate (%)
Completion Score
Outlier Rate (%)
Regression Metric
Route Success Score
SAFE-SIM
Horizon=80, Ego Planne...
2026.07
42.1
2.4
-
0.48
3.6
0.33
0.74
SAFE-SIM
Horizon=200, Ego Plann...
2026.07
50.6
3
-
0.51
8.7
0.27
0.61
CCFM
Horizon=80, Ego Planne...
2026.07
83.1
5.2
85.6
1
1.7
0.33
1
CCFM
Horizon=200, Ego Plann...
2026.07
95.2
6.1
84.7
1
1.9
0.3
0.95
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