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SOTA Autonomous Driving Planning benchmarks and papers with code | Wizwand
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Autonomous Driving Planning
Benchmarks
Dataset Name
SOTA Method
Dataset Name
SOTA Method
Metric
Trend
Results
Last Updated
NAVSIM v1
Human
NC
100
86
12d ago
NAVSIM (navtest)
ResWorld
NC
98.9
68
1mo ago
Navsim v1 (test)
Human
NC
100
59
16d ago
NAVSIM v2 (test)
Human
NC
100
27
12d ago
NAVSIM v2
ELF-VLA-8B
NC
98.9
26
13d ago
NAVSIM Navhard v2
GTRS w/ SimScale
NC
99.1
22
20d ago
nuPlan Test14-Hard 1.0 (Reactive)
Log Replay
Reactive Score
85.96
15
18d ago
nuPlan Reactive 14 (val)
Log Replay
Val14 (R)
93.68
14
18d ago
NAVSIM v2 (Navtest)
Senna-2
NC
98.5
13
1mo ago
navhard Snapshot from 03/2026 (Overall)
CV
EPDMS
11.4
11
26d ago
navhard Snapshot from 03/2026 (Stage 2)
SimScale
NC Rate
94.5
11
26d ago
navhard Snapshot from 03/2026 (Stage 1)
GuideFlow
NC
99.5
11
26d ago
NAVSIM Navhard v2 (Stage 1)
Constrained GRPO, ScAdv
NC
0.957
9
1mo ago
NAVSIM Navhard v2 (Stage 2)
PDM-Closed
NC
0.881
9
1mo ago
Navsim (test)
Human‡
SNC
100
9
1mo ago
nuScenes Overtake scenario v1.0 (val)
DIMA
Trajectory L2 Error (1s)
0.24
8
1mo ago
WOD-E2E (test)
dVLM-AD
RFS
7.633
6
1mo ago
NAVSIM v1.1 (navtest)
Hydra-SE
NC
99.32
6
1mo ago
rounD Real-world
LMTraj
Inference Time (s)
1.78
5
18d ago
highD Real-world
LMTraj
Inference Time (s)
1.61
5
18d ago
Roundab. Simulated
LMTraj
Inference Time (s)
1.73
5
18d ago
Highway Simulated
LMTraj
Inference Time (s)
1.56
5
18d ago
Waymax Non-Reactive
CorrectionPlanner
Collision Rate
2.43
5
1mo ago
Waymax Reactive
CorrectionPlanner
Collisions
1.68
5
1mo ago
nuPlan 14-Hard (test)
Human (Expert)
Score
85.96
3
18d ago
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