Supplementary Material for NAVSIM: Data-Driven Non-Reactive Autonomous Vehicle Simulation and Benchmarking 1,5

In this supplementary document, we first collect an overview of inconsistencies in existing planning benchmarks. Next, we provide details on the NAVSIM implementation and the dataset used in our study. Moreover, we include descriptions of the baselines and present supplementary results. Finally, we provide information on the 2024 NAVSIM challenge and discuss the broader impact of our work.