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Benchmarks
Motion Planning on nuPlan 14-hard (test)
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75.72
CLS-SR
BIBeR
36.5952
46.7526
56.91
67.0674
Dec 3, 2025
CLS-SR
Updated 4d ago
Evaluation Results
Method
Method
Links
CLS-SR
BIBeR
Integration=Co-Leader,...
2025.12
75.72
PDM-Closed
Integration=Human Lead...
2025.12
73.99
PDM-Hybrid
Integration=Human Lead...
2025.12
72.15
DiffusionPlanner
Integration=Joint, Eva...
2025.12
63.09
GameFormer
Integration=Joint, Eva...
2025.12
62.48
PlanTF
Integration=None, Eval...
2025.12
57.5
PlanCNN
Integration=None, Eval...
2025.12
50.78
DTPP
Integration=Co-Leader,...
2025.12
46.65
GC-PGP
Integration=None, Eval...
2025.12
40.96
Urban Driver
Integration=None, Eval...
2025.12
38.38
PDM-Open
Integration=None, Eval...
2025.12
38.1
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