GTRS: Generalized Trajectory Scoring for End-to-end Multi-modal Planning

arXiv | Blog | Challenge

This is the official repository of GTRS, an end-to-end planning framework featuring a robust trajectory scorer for evaluating diverse trajectory candidates.

News

🏆GTRS wins the E2E Driving Track at CVPR25 Autonomous Grand Challenge.

Getting Started

Please refer to install.md for downloading the dataset and installing the devkit.

Model Checkpoints

Model	Resolution	Vocab. Size	Backbone	EPDMS	Checkpoint
Diffusion Policy	512x2048	-	V2-99	25.6	Link
GTRS-Dense	512x2048	16384	V2-99	41.7	Link
GTRS-Aug	512x2048	8192	V2-99	42.1	Link
Hydra-MDP (img only)	512x2048	16384	V2-99	37.5	Link

Training and Inference

Please refer to gtrs_training.md and gtrs_inference.md respectively. gtrs_simulation.md provides instructions on collecting your own trajectory statistics.

Citation

Consider citing our work if you find it useful. Thanks!

@article{li2025generalized,
  title={Generalized Trajectory Scoring for End-to-end Multimodal Planning},
  author={Li, Zhenxin and Yao, Wenhao and Wang, Zi and Sun, Xinglong and Chen, Joshua and Chang, Nadine and Shen, Maying and Wu, Zuxuan and Lan, Shiyi and Alvarez, Jose M},
  journal={arXiv preprint arXiv:2506.06664},
  year={2025}
}

Acknowledgement

Many thanks to the following great open-source repositories:

• NAVSIM
• VAD
• Transfuser