| Benchmark | Model | Rank | Results |
|---|---|---|---|
| navsim-on-openscene | DriveReferee (base, 16B backbone) | – | PDMS: 91.08 |
| navsim-on-openscene | DriveReferee (base, 4B backbone) | – | PDMS: 90.47 |
| navsim-on-openscene | DriveReferee (full, 16B backbone) | – | PDMS: 92.02 |
| navsim-on-openscene | DriveReferee (full, 4B backbone) | – | PDMS: 91.50 |