Trajectory Planning on NuScenes (ST-P3/UniAD)
0.1ST-P3 L2 Error (1s)
VLA-World
Updated 6d ago
Evaluation Results
| Method | Links | ||||||||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
2026.04 | 0.1 | 0.24 | 0.45 | 0.26 | 0.02 | 0.05 | 0.18 | 0.08 | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.04 | 0.11 | 0.27 | 0.52 | 0.3 | 0 | 0.03 | 0.26 | 0.1 | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2025.12 | 0.14 | 0.29 | 0.54 | 0.32 | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2025.12 | 0.14 | 0.28 | 0.51 | 0.31 | 0.03 | 0.07 | 0.19 | 0.1 | 0.19 | 0.54 | 1.09 | 0.61 | 0.06 | 0.09 | 0.5 | 0.22 | - | - | - | - | - | - | - | - | |
2026.04 | 0.14 | 0.29 | 0.55 | 0.33 | 0 | 0.13 | 0.78 | 0.3 | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.04 | 0.14 | 0.25 | 0.46 | 0.28 | 0.03 | 0.06 | 0.21 | 0.1 | 0.18 | 0.39 | 0.77 | 0.45 | 0 | 0.06 | 0.42 | 0.16 | - | - | - | - | - | - | - | - | |
2026.04 | 0.14 | 0.3 | 0.55 | 0.33 | 0.02 | 0.07 | 0.22 | 0.1 | 0.19 | 0.58 | 1.24 | 0.67 | 0.02 | 0.18 | 0.7 | 0.3 | - | - | - | - | - | - | - | - | |
2026.04 | 0.14 | 0.29 | 0.54 | 0.32 | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.04 | 0.14 | 0.29 | 0.55 | 0.33 | 0 | 0.13 | 0.78 | 0.3 | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.04 | 0.14 | 0.25 | 0.46 | 0.28 | 0.03 | 0.06 | 0.21 | 0.1 | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2025.12 | 0.15 | 0.31 | 0.55 | 0.33 | 0.01 | 0.08 | 0.21 | 0.1 | 0.2 | 0.58 | 1.21 | 0.66 | 0 | 0.22 | 0.55 | 0.25 | - | - | - | - | - | - | - | - | |
2025.12 | 0.16 | 0.34 | 0.61 | 0.37 | 0.02 | 0.07 | 0.18 | 0.09 | 0.22 | 0.65 | 1.34 | 0.74 | 0.02 | 0.13 | 0.48 | 0.21 | - | - | - | - | - | - | - | - | |
2026.04 | 0.16 | 0.32 | 0.57 | 0.35 | 0 | 0.29 | 0.73 | 0.34 | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.04 | 0.16 | 0.32 | 0.57 | 0.35 | 0 | 0.29 | 0.73 | 0.34 | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2025.12 | 0.17 | 0.34 | 0.6 | 0.37 | 0.07 | 0.1 | 0.24 | 0.14 | 0.23 | 0.66 | 1.31 | 0.73 | 0.04 | 0.21 | 0.55 | 0.27 | - | - | - | - | - | - | - | - | |
2025.12 | 0.17 | 0.37 | 0.69 | 0.4 | 0.01 | 0.05 | 0.26 | 0.1 | 0.23 | 0.73 | 1.54 | 0.8 | 0 | 0.13 | 0.83 | 0.32 | - | - | - | - | - | - | - | - | |
2026.04 | 0.17 | 0.34 | 0.6 | 0.37 | 0.04 | 0.27 | 0.67 | 0.33 | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.04 | 0.17 | 0.37 | 0.69 | 0.4 | 0.01 | 0.05 | 0.26 | 0.1 | 0.23 | 0.73 | 1.54 | 0.8 | 0 | 0.13 | 0.83 | 0.32 | - | - | - | - | - | - | - | - | |
2026.04 | 0.17 | 0.31 | 0.55 | 0.34 | 0.05 | 0.25 | 0.8 | 0.37 | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.04 | 0.17 | 0.34 | 0.6 | 0.37 | 0.04 | 0.27 | 0.67 | 0.33 | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.04 | 0.17 | 0.37 | 0.69 | 0.4 | 0.01 | 0.05 | 0.26 | 0.1 | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2025.12 | 0.18 | 0.34 | 0.68 | 0.4 | 0.1 | 0.22 | 0.45 | 0.27 | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2025.12 | 0.2 | 0.4 | 0.7 | 0.44 | 0.04 | 0.12 | 0.36 | 0.17 | 0.27 | 0.74 | 1.52 | 0.84 | 0.07 | 0.15 | 1.1 | 0.44 | - | - | - | - | - | - | - | - | |
2025.12 | 0.23 | 0.41 | 0.68 | 0.44 | 0.09 | 0.1 | 0.27 | 0.15 | 0.3 | 0.72 | 1.41 | 0.81 | 0.08 | 0.15 | 0.84 | 0.36 | - | - | - | - | - | - | - | - | |
2026.04 | 0.23 | 0.4 | 0.65 | 0.43 | 0.04 | 0.09 | 0.18 | 0.1 | 0.3 | 0.69 | 1.32 | 0.77 | 0.03 | 0.13 | 0.52 | 0.23 | - | - | - | - | - | - | - | - | |
2026.04 | 0.24 | 0.4 | 0.63 | 0.42 | 0.03 | 0.09 | 0.16 | 0.1 | 0.3 | 0.66 | 1.25 | 0.74 | 0.02 | 0.18 | 0.4 | 0.2 | - | - | - | - | - | - | - | - | |
2026.04 | 0.25 | 0.46 | 0.73 | 0.48 | 0.07 | 0.07 | 0.26 | 0.13 | 0.33 | 0.81 | 1.45 | 0.86 | 0.08 | 0.11 | 0.85 | 0.35 | - | - | - | - | - | - | - | - | |
2026.04 | 0.26 | 0.37 | 0.59 | 0.4 | 0.02 | 0.05 | 0.11 | 0.06 | 0.3 | 0.61 | 1.15 | 0.72 | 0.03 | 0.07 | 0.35 | 0.15 | - | - | - | - | - | - | - | - | |
2026.04 | 0.27 | 0.49 | 0.77 | 0.51 | 0.03 | 0.1 | 0.21 | 0.11 | 0.36 | 0.83 | 1.5 | 0.9 | 0.02 | 0.23 | 0.55 | 0.27 | - | - | - | - | - | - | - | - | |
2026.04 | 0.28 | 0.53 | 0.84 | 0.55 | 0.03 | 0.05 | 0.15 | 0.08 | 0.38 | 0.92 | 1.66 | 0.99 | 0.02 | 0.08 | 0.53 | 0.21 | - | - | - | - | - | - | - | - | |
2026.04 | 0.28 | 0.52 | 0.8 | 0.53 | 0.06 | 0.13 | 0.32 | 0.17 | 0.4 | 0.89 | 1.6 | 0.96 | 0.07 | 0.12 | 1.02 | 0.4 | - | - | - | - | - | - | - | - | |
2026.04 | 0.28 | 0.51 | 0.82 | 0.54 | 0.08 | 0.13 | 0.31 | 0.17 | 0.37 | 0.89 | 1.62 | 0.96 | 0.08 | 0.27 | 0.88 | 0.41 | - | - | - | - | - | - | - | - | |
2026.04 | 0.28 | 0.52 | 0.8 | 0.53 | 0.06 | 0.13 | 0.32 | 0.17 | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.04 | 0.3 | 0.52 | 0.83 | 0.55 | 0.1 | 0.37 | 1.3 | 0.59 | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.04 | 0.3 | 0.52 | 0.83 | 0.55 | 0.1 | 0.37 | 1.3 | 0.59 | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.04 | 0.37 | 0.67 | 1.07 | 0.7 | 0.02 | 0.14 | 0.47 | 0.21 | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.04 | 0.39 | 0.73 | 1.18 | 0.77 | 0.11 | 0.19 | 0.67 | 0.32 | 0.52 | 1.27 | 2.41 | 1.4 | 0.12 | 0.4 | 2.08 | 0.87 | - | - | - | - | - | - | - | - | |
2026.04 | 0.39 | 0.73 | 1.18 | 0.77 | 0.11 | 0.19 | 0.67 | 0.32 | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.04 | 0.4 | 0.8 | 1.32 | 0.84 | 0.04 | 0.46 | 2.32 | 0.94 | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.04 | 0.4 | 0.8 | 1.32 | 0.84 | 0.04 | 0.46 | 2.32 | 0.94 | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.04 | 0.41 | 0.7 | 1.05 | 0.72 | 0.03 | 0.19 | 0.43 | 0.21 | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.04 | 0.41 | 0.61 | 0.86 | 0.63 | 0.03 | 0.08 | 0.24 | 0.12 | 0.48 | 0.91 | 1.54 | 0.97 | 0.03 | 0.17 | 0.68 | 0.29 | - | - | - | - | - | - | - | - | |
2025.12 | 0.44 | 0.67 | 0.96 | 0.69 | 0.04 | 0.08 | 0.23 | 0.12 | 0.48 | 0.96 | 1.65 | 1.03 | 0.05 | 0.17 | 0.71 | 0.31 | - | - | - | - | - | - | - | - | |
2026.04 | 0.45 | 0.7 | 1.04 | 0.73 | 0.62 | 0.58 | 0.63 | 0.61 | 0.59 | 1.01 | 1.48 | 1.03 | 0.16 | 0.51 | 1.64 | 0.77 | - | - | - | - | - | - | - | - | |
2026.04 | 0.69 | 1.22 | 1.83 | 1.25 | 0.06 | 0.68 | 2.52 | 1.09 | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2025.12 | 1.33 | 2.11 | 2.9 | 2.11 | 0.23 | 0.62 | 1.27 | 0.71 | 1.51 | 2.85 | 4.22 | 2.86 | 0.18 | 0.78 | 1.96 | 0.97 | - | - | - | - | - | - | - | - | |
2026.04 | 1.33 | 2.11 | 2.9 | 2.11 | 0.23 | 0.62 | 1.27 | 0.71 | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2026.04 | 1.33 | 2.11 | 2.9 | 2.11 | 0.23 | 0.62 | 1.27 | 0.71 | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | |
2025.12 | 1.45 | 3.21 | 3.76 | 2.81 | 0.31 | 0.77 | 1.45 | 0.84 | 1.67 | 4.11 | 5.12 | 3.63 | 0.32 | 0.89 | 1.64 | 0.95 | - | - | - | - | - | - | - | - | |
2026.04 | - | - | - | - | - | - | - | - | 0.2 | 0.42 | 0.75 | 0.46 | 0.02 | 0.25 | 0.84 | 0.37 | - | - | - | - | - | - | - | - | |
2026.04 | - | - | - | - | - | - | - | - | 0.34 | 1.23 | 2.57 | 1.38 | 0.12 | 0.5 | 2.36 | 0.99 | - | - | - | - | - | - | - | - | |
2026.04 | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | 0.59 | 1.01 | 1.48 | 1.03 | 16 | 51 | 1.64 | 0.77 | |
2026.04 | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | 0.2 | 0.42 | 0.75 | 0.46 | 2 | 25 | 0.84 | 0.37 | |
2026.04 | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | 0.49 | 1.22 | 2.32 | 1.34 | 19 | 57 | 2.65 | 1.14 | |
2026.04 | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | 0.34 | 1.23 | 2.57 | 1.38 | 12 | 50 | 2.36 | 0.99 | |
2026.04 | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | 0.27 | 0.53 | 0.94 | 0.58 | 0 | 4 | 0.52 | 0.19 | |
2026.04 | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | 0.52 | 1.27 | 2.41 | 1.4 | 12 | 40 | 2.08 | 0.87 | |
2026.04 | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | 0.5 | 1.18 | 2.11 | 1.26 | 4 | 37 | 1.19 | 0.53 | |
2026.04 | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | 0.23 | 0.73 | 1.54 | 0.8 | 0 | 13 | 0.83 | 0.32 | |
2026.04 | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | 0.4 | 0.89 | 1.6 | 0.96 | 7 | 12 | 1.02 | 0.4 | |
2026.04 | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | 0.18 | 0.39 | 0.77 | 0.45 | 0 | 6 | 0.42 | 0.16 | |
2026.04 | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | 0.38 | 0.74 | 1.38 | 0.83 | 2 | 8 | 0.36 | 0.16 | |
2026.04 | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | - | 0.1 | 0.35 | 0.8 | 0.42 | 1 | 5 | 0.3 | 0.12 |