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Open-loop planning on nuScenes v1.0 (val)

0.11L2 (1s)

Senna

Updated 4d ago

Evaluation Results

Method
Senna 2025.03	0.11	0.21	0.35	0.22	4	8	13	8	-	-
GeRo 2026.01	0.12	0.24	0.46	0.27	5	9	22	12	-	-
SOLVE-E2E (Async) 2025.05	0.13	0.27	0.5	0.3	4	17	65	29	-	-
SOLVE-VLM 2025.05	0.13	0.25	0.47	0.28	0	16	43	20	-	-
OmniDrive++ 2025.03	0.14	0.29	0.55	0.33	0	13	78	30	-	-
EMMA 2025.03	0.14	0.29	0.54	0.32	-	-	-	-	-	-
OmniDrive 2025.05	0.14	0.29	0.55	0.33	0	13	78	30	-	-
EMMA 2025.05	0.14	0.29	0.54	0.32	-	-	-	-	-	-
SOLVE-E2E 2025.05	0.14	0.28	0.5	0.31	4	17	68	30	-	-
DiFSD-S 2025.03	0.15	0.31	0.56	0.33	0	6	19	8	93.7	10.7
Ego-MLP 2025.03	0.15	0.32	0.59	0.35	0	27	85	37	-	-
DriveVLM-Dual 2025.03	0.15	0.29	0.48	0.31	5	8	17	10	-	-
AD-MLP 2025.05	0.15	0.32	0.59	0.35	0	27	85	37	-	-
DriveVLM-Dual 2025.05	0.15	0.29	0.48	0.31	-	-	-	-	-	-
DriveTransformer-Large 2025.03	0.16	0.3	0.55	0.33	1	6	15	7	221.7	4.5
BEV-Planner++ 2025.03	0.16	0.32	0.57	0.35	0	29	73	34	-	-
BEV-Planner++ 2025.05	0.16	0.32	0.57	0.35	0	29	73	34	-	-
HERMES-p 2026.02	0.16	0.32	0.59	0.36	0	14	82	32	-	-
GeRo 2026.01	0.16	0.27	0.5	0.31	6	10	26	14	-	-
GeRo 2026.01	0.16	0.32	0.61	0.36	8	16	39	21	-	-
VAD-Base 2025.03	0.17	0.34	0.6	0.37	4	27	67	33	-	-
ORION 2025.03	0.17	0.31	0.55	0.34	5	25	80	37	-	-
VAD-Base 2025.05	0.17	0.34	0.6	0.37	4	27	67	33	-	-
DriveVLM 2025.03	0.18	0.34	0.68	0.4	10	22	45	27	-	-
DriveVLM 2025.05	0.18	0.34	0.68	0.4	-	-	-	-	-	-
UniAD 2025.03	0.2	0.42	0.75	0.46	2	25	84	37	-	-
UniAD 2025.05	0.2	0.42	0.75	0.46	2	25	84	37	-	-
GeRo 2026.01	0.24	0.41	0.7	0.45	11	22	42	25	-	-
GenAD 2025.03	0.28	0.49	0.78	0.52	8	14	34	19	149.2	6.7
HiP-AD 2025.03	0.28	0.53	0.87	0.56	1	5	15	7	109.9	9.1
FSDrive 2026.02	0.28	0.52	0.8	0.53	6	13	32	17	-	-
DriveWorld-VLA 2026.02	0.28	0.58	0.99	0.61	0	10	38	16	-	-
SparseDrive-S 2025.03	0.29	0.58	0.96	0.61	1	5	18	8	111.1	9
BEV-Planner 2025.03	0.3	0.52	0.83	0.55	10	37	130	59	-	-
BEV-Planner 2025.05	0.3	0.52	0.83	0.55	10	37	130	59	-	-
LAW 2026.02	0.31	0.61	1.02	0.65	27	21	54	34	-	-
GenAD 2026.02	0.36	0.83	1.55	0.91	6	23	100	43	-	-
GenAD 2026.01	0.36	0.83	1.55	0.91	6	23	100	43	-	-
Senna 2025.03	0.37	0.54	0.86	0.59	9	12	33	18	-	-
Senna 2026.01	0.37	0.54	0.86	0.59	9	12	33	18	-	-
OmniDrive 2025.03	0.4	0.8	1.32	0.84	4	46	232	94	-	-
VAD-Base 2025.03	0.41	0.7	1.05	0.72	3	19	43	21	224.3	4.5
VAD-Base 2025.03	0.41	0.7	1.06	0.72	4	43	115	54	-	-
VAD 2026.02	0.41	0.7	1.05	0.72	7	17	41	22	-	-
MomAD 2026.02	0.43	0.88	1.62	0.98	6	16	68	30	-	-
ORION 2026.01	0.43	0.64	1.01	0.69	9	29	94	44	-	-
UniAD 2025.03	0.48	0.96	1.65	1.03	5	17	71	31	-	-
UniAD 2026.02	0.48	0.96	1.65	1.03	5	17	71	31	-	-
UniAD 2026.01	0.48	0.96	1.65	1.03	5	17	71	31	-	-
Qwen2.5VL 2026.01	0.52	0.8	1.56	0.96	10	37	132	60	-	-
VAD-Base 2026.01	0.54	1.15	1.98	1.22	4	39	117	53	-	-
UniAD 2025.05	0.59	1.01	1.48	1.03	16	51	164	77	-	-
Epona 2026.02	0.61	1.17	1.98	1.25	1	22	85	36	-	-
VAD-Base 2025.03	0.69	1.22	1.83	1.25	6	68	252	109	-	-
VAD-Base 2025.05	0.69	1.22	1.83	1.25	6	68	252	109	-	-
OmniDrive 2025.03	1.15	1.96	2.84	1.98	80	312	746	379	-	-
OccNet 2026.01	1.29	2.13	2.99	2.14	21	59	137	72	-	-
ST-P3 2025.03	1.33	2.11	2.9	2.11	23	62	127	71	-	-
ST-P3 2026.01	1.33	2.11	2.9	2.11	23	62	127	71	-	-