Open-loop planning on nuScenes (val)
0.1L2 Error (3s)
Ours-0.5B
Updated 8d ago
Evaluation Results
| Method | Links | |||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
2026.05 | 0.1 | 0.04 | 0.06 | 0.06 | 0.07 | 0.08 | 0.11 | 0.09 | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2025.03 | 0.41 | 0.2 | 0.26 | 0.29 | 0.17 | 0.18 | 0.24 | 0.19 | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.02 | 0.41 | 0.2 | 0.26 | 0.29 | 0.0017 | 0.0018 | 0.0024 | 0.0019 | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2024.09 | 0.52 | 0.12 | 0.28 | 0.3 | 0 | 0.04 | 0.15 | 0.06 | - | - | - | - | - | - | 80.5 | 12.4 | - | - | - | - | - | |
2026.02 | 0.52 | 0.16 | 0.3 | 0.33 | 0 | 0.0003 | 0.0016 | 0.0006 | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.05 | 0.52 | 0.16 | 0.31 | 0.33 | 0.02 | 0.07 | 0.27 | 0.12 | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.05 | 0.52 | 0.13 | 0.27 | 0.3 | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.05 | 0.53 | 0.13 | 0.27 | 0.3 | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.02 | 0.54 | 0.17 | 0.33 | 0.35 | 0.0002 | 0.0004 | 0.0017 | 0.0007 | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.05 | 0.54 | 0.14 | 0.29 | 0.32 | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2025.03 | 0.55 | 0.16 | 0.3 | 0.33 | 0.01 | 0.06 | 0.15 | 0.07 | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.02 | 0.55 | 0.16 | - | 0.33 | 0.0001 | 0.0006 | 0.0015 | 0.0007 | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.05 | 0.55 | 0.14 | 0.29 | 0.33 | 0 | 0.13 | 0.78 | 0.3 | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.05 | 0.55 | 0.14 | 0.3 | 0.33 | 0.02 | 0.07 | 0.22 | 0.1 | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.05 | 0.55 | 0.15 | 0.31 | 0.33 | 0.01 | 0.08 | 0.21 | 0.1 | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2024.09 | 0.56 | 0.15 | 0.31 | 0.33 | 0 | 0.06 | 0.19 | 0.08 | - | - | - | - | - | - | 59.8 | 16.7 | - | - | - | - | - | |
2026.02 | 0.56 | 0.18 | 0.33 | 0.36 | 0.0003 | 0.0005 | 0.0017 | 0.0008 | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.05 | 0.56 | 0.27 | 0.33 | 0.35 | 0.07 | 0.1 | 0.24 | 0.14 | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2025.03 | 0.57 | 0.16 | 0.32 | 0.35 | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2023.12 | 0.57 | 0.16 | 0.32 | 0.35 | 0 | 0.29 | 0.73 | 0.34 | - | - | 0.35 | 2.62 | 6.51 | 3.16 | - | - | - | - | - | - | - | |
2026.02 | 0.57 | 0.16 | 0.32 | 0.35 | 0 | 0.0029 | 0.0073 | 0.0034 | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.05 | 0.57 | 0.15 | 0.32 | 0.35 | 0.01 | 0.06 | 0.2 | 0.09 | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2023.12 | 0.59 | 0.15 | 0.32 | 0.35 | 0 | 0.27 | 0.85 | 0.37 | - | - | 0.27 | 2.52 | 6.6 | 2.93 | - | - | - | - | - | - | - | |
2024.09 | 0.59 | 0.16 | 0.33 | 0.35 | 0 | 0.04 | 0.18 | 0.07 | - | - | - | - | - | - | 67.7 | 14.8 | - | - | - | - | - | |
2024.09 | 0.59 | 0.16 | 0.33 | 0.35 | 0.03 | 0.07 | 0.21 | 0.1 | - | - | - | - | - | - | 67.7 | 14.8 | - | - | - | - | - | |
2026.02 | 0.59 | 0.19 | 0.35 | 0.38 | 0.0007 | 0.0009 | 0.0024 | 0.0013 | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2025.03 | 0.6 | 0.17 | 0.34 | 0.37 | 0.07 | 0.1 | 0.24 | 0.14 | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2023.03 | 0.6 | 0.17 | 0.34 | 0.37 | 0.07 | 0.1 | 0.24 | 0.14 | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2023.12 | 0.6 | 0.17 | 0.34 | 0.37 | 0.04 | 0.27 | 0.67 | 0.33 | - | - | 0.21 | 2.13 | 5.06 | 2.47 | - | - | - | - | - | - | - | |
2026.05 | 0.6 | 0.17 | 0.34 | 0.37 | 0.07 | 0.1 | 0.24 | 0.14 | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.02 | 0.61 | 0.16 | 0.34 | 0.37 | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.02 | 0.62 | 0.21 | 0.38 | 0.4 | 0.0001 | 0.0004 | 0.0021 | 0.0009 | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.02 | 0.63 | 0.18 | 0.39 | 0.4 | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.02 | 0.63 | 0.22 | 0.4 | 0.41 | 0.0005 | 0.0006 | 0.0021 | 0.0011 | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.02 | 0.64 | 0.23 | 0.4 | 0.42 | 0.0006 | 0.0007 | 0.0022 | 0.0012 | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2025.03 | 0.65 | 0.2 | 0.38 | 0.41 | 0.1 | 0.12 | 0.27 | 0.16 | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2023.03 | 0.65 | 0.2 | 0.38 | 0.41 | 0.1 | 0.12 | 0.27 | 0.16 | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.05 | 0.65 | 0.21 | 0.39 | 0.42 | 0.03 | 0.08 | 0.25 | 0.12 | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2025.03 | 0.66 | 0.19 | 0.34 | 0.4 | 0.03 | 0.1 | 0.21 | 0.11 | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.02 | 0.66 | 0.25 | 0.42 | 0.44 | 0.0012 | 0.0009 | 0.0024 | 0.0015 | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.02 | 0.66 | 0.19 | 0.33 | 0.39 | 0.0001 | 0.0007 | 0.0021 | 0.001 | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2023.12 | 0.68 | 0.28 | 0.42 | 0.46 | 0.04 | 0.37 | 1.07 | 0.49 | - | - | 0.7 | 3.77 | 8.15 | 4.21 | - | - | - | - | - | - | - | |
2026.05 | 0.68 | 0.23 | 0.41 | 0.44 | 0.09 | 0.1 | 0.27 | 0.15 | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.05 | 0.68 | 0.18 | 0.34 | 0.4 | 0.1 | 0.22 | 0.45 | 0.27 | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2025.04 | 0.69 | 0.16 | 0.38 | 0.39 | 0.01 | 0.03 | 0.14 | 0.06 | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.05 | 0.69 | 0.21 | 0.39 | 0.43 | 0.07 | 0.09 | 0.27 | 0.14 | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.05 | 0.69 | 0.17 | 0.37 | 0.4 | 0.01 | 0.05 | 0.26 | 0.1 | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.02 | 0.7 | 0.2 | 0.4 | 0.44 | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.05 | 0.7 | 0.2 | 0.4 | 0.44 | 0.04 | 0.12 | 0.36 | 0.17 | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2025.03 | 0.74 | 0.25 | 0.46 | 0.48 | 0.14 | 0.23 | 0.39 | 0.25 | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.02 | 0.74 | 0.25 | 0.46 | 0.48 | 0.0014 | 0.0023 | 0.0039 | 0.0025 | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.05 | 0.74 | 0.25 | 0.45 | 0.48 | 0.09 | 0.11 | 0.31 | 0.17 | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2023.12 | 0.75 | 0.2 | 0.42 | 0.46 | 0.02 | 0.25 | 0.84 | 0.37 | - | - | 0.2 | 1.33 | 3.24 | 1.59 | - | - | - | - | - | - | - | |
2026.05 | 0.76 | 0.24 | 0.46 | 0.49 | 0.08 | 0.1 | 0.39 | 0.19 | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2024.01 | 0.78 | 0.26 | 0.47 | 0.5 | 0.12 | 0.17 | 0.42 | 0.23 | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.05 | 0.78 | 0.28 | 0.49 | 0.52 | 0.08 | 0.14 | 0.34 | 0.19 | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.05 | 0.81 | 0.23 | 0.47 | 0.5 | 0.02 | 0.12 | 0.33 | 0.16 | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2023.12 | 0.83 | 0.3 | 0.52 | 0.55 | 0.1 | 0.37 | 1.3 | 0.59 | - | - | 0.78 | 3.79 | 8.22 | 4.26 | - | - | - | - | - | - | - | |
2026.05 | 0.83 | 0.28 | 0.53 | 0.55 | 0.09 | 0.13 | 0.35 | 0.19 | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2024.01 | 0.84 | 0.3 | 0.53 | 0.55 | 0.01 | 0.07 | 0.38 | 0.15 | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2025.11 | 0.88 | 0.4 | 0.64 | 0.64 | 0.09 | 0.38 | 0.81 | 0.42 | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.05 | 0.88 | 0.32 | 0.56 | 0.59 | 0.08 | 0.18 | 0.46 | 0.24 | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2025.04 | 0.89 | 0.3 | 0.56 | 0.58 | 0 | 0.03 | 0.14 | 0.06 | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2025.03 | 0.9 | 0.27 | 0.54 | 0.57 | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2023.12 | 0.9 | 0.27 | 0.54 | 0.57 | 0.04 | 0.35 | 1.8 | 0.73 | - | - | 0.63 | 3.38 | 7.93 | 3.98 | - | - | - | - | - | - | - | |
2026.02 | 0.9 | 0.27 | 0.54 | 0.57 | 0.0004 | 0.0035 | 0.018 | 0.0073 | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.05 | 0.9 | 0.27 | 0.54 | 0.57 | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.05 | 0.9 | 0.27 | 0.54 | 0.57 | 0.03 | 0.05 | 0.16 | 0.08 | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2025.04 | 0.91 | 0.31 | 0.57 | 0.6 | 0.01 | 0.05 | 0.22 | 0.09 | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2024.05 | 0.91 | 0.29 | 0.55 | 0.58 | 0.01 | 0.02 | 0.13 | 0.06 | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2024.09 | 0.91 | 0.29 | 0.55 | 0.58 | 0.01 | 0.02 | 0.13 | 0.06 | - | - | - | - | - | - | 137 | 7.3 | - | - | - | - | - | |
2026.02 | 0.91 | 0.29 | 0.55 | 0.58 | 0.0001 | 0.0002 | 0.0013 | 0.0006 | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.05 | 0.91 | 0.31 | 0.57 | 0.6 | 0.01 | 0.05 | 0.22 | 0.09 | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.05 | 0.91 | 0.31 | 0.57 | 0.6 | 0.01 | 0.05 | 0.22 | 0.09 | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2025.03 | 0.92 | 0.29 | 0.57 | 0.59 | 0.01 | 0.05 | 0.22 | 0.09 | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2025.03 | 0.92 | 0.28 | 0.55 | 0.58 | 0 | 0.04 | 0.2 | 0.08 | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2025.11 | 0.92 | 0.4 | 0.66 | 0.66 | 0.49 | 0.38 | 0.61 | 0.49 | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.05 | 0.92 | 0.29 | 0.57 | 0.59 | 0.01 | 0.05 | 0.22 | 0.09 | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.05 | 0.94 | 0.39 | 0.62 | 0.65 | 0.14 | 0.21 | 0.42 | 0.26 | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2024.09 | 0.95 | 0.3 | 0.58 | 0.61 | 0.47 | 0.47 | 0.69 | 0.54 | - | - | - | - | - | - | 111.1 | 9 | - | - | - | - | - | |
2025.03 | 0.95 | 0.3 | 0.58 | 0.61 | 0.01 | 0.05 | 0.23 | 0.1 | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2025.04 | 0.96 | 0.29 | 0.58 | 0.61 | 0.01 | 0.05 | 0.18 | 0.08 | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2024.05 | 0.96 | 0.29 | 0.58 | 0.61 | 0.01 | 0.05 | 0.18 | 0.08 | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2024.09 | 0.96 | 0.29 | 0.58 | 0.61 | 0.01 | 0.05 | 0.18 | 0.08 | - | - | - | - | - | - | 111.1 | 9 | - | - | - | - | - | |
2026.05 | 0.96 | 0.29 | 0.58 | 0.61 | 0.01 | 0.05 | 0.18 | 0.08 | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.05 | 0.96 | 0.44 | 0.67 | 0.69 | 0.04 | 0.08 | 0.23 | 0.12 | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.05 | 0.96 | 0.29 | 0.58 | 0.61 | 0.01 | 0.05 | 0.18 | 0.08 | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2025.11 | 0.98 | 0.26 | 0.67 | 0.64 | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2023.12 | 0.99 | 0.35 | 0.63 | 0.66 | 0.16 | 0.43 | 1.27 | 0.62 | - | - | 0.21 | 1.32 | 3.63 | 1.72 | - | - | - | - | - | - | - | |
2025.01 | 1.01 | 0.18 | 0.48 | 0.56 | 0 | 0.05 | 0.16 | 0.07 | - | - | - | - | - | - | - | - | 0.46 | 0.06 | - | - | - | |
2026.02 | 1.01 | 0.18 | 0.48 | 0.56 | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2025.11 | 1.01 | 0.25 | 0.58 | 0.61 | 0.16 | 0.08 | 0.1 | 0.11 | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.05 | 1.01 | 0.26 | 0.57 | 0.61 | 0.14 | 0.21 | 0.54 | 0.3 | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.05 | 1.01 | 0.33 | 0.62 | 0.65 | 0 | 0.01 | 0.13 | 0.05 | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2025.01 | 1.02 | 0.18 | 0.5 | 0.57 | 0 | 0.05 | 0.16 | 0.07 | - | - | - | - | - | - | - | - | 0.47 | 0.06 | - | - | - | |
2025.01 | 1.03 | 0.18 | 0.5 | 0.57 | 0 | 0.05 | 0.16 | 0.08 | - | - | - | - | - | - | - | - | 0.47 | 0.06 | - | - | - | |
2025.04 | 1.04 | 0.45 | 0.7 | 0.73 | 0.62 | 0.58 | 0.63 | 0.61 | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2024.05 | 1.04 | 0.45 | 0.7 | 0.73 | 0.62 | 0.58 | 0.63 | 0.61 | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2024.09 | 1.04 | 0.45 | 0.7 | 0.73 | 0.62 | 0.58 | 0.63 | 0.61 | - | - | - | - | - | - | 555.6 | 1.8 | - | - | - | - | - | |
2025.01 | 1.04 | 0.2 | 0.52 | 0.59 | 0 | 0.09 | 0.49 | 0.19 | - | - | - | - | - | - | - | - | 0.49 | 0.13 | - | - | - |
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