Fair comparisons are challenging in the open-loop planning literature, due to metrics of narrow scope or inconsistent definitions between different projects. The PDM Score is a combination of six sub-metrics, which provides a comprehensive analysis of different aspects of driving performance. Five of these sub-metrics are discrete-valued, and one is continuous. All metrics are computed after a 4-second non-reactive simulation of the planner output: background actors follow their recorded future trajectories, and the ego vehicle moves based on an LQR controller. More information is available in the [NAVSIM docs](https://github.com/kashyap7x/navsim/blob/internal_main/docs/metrics.md).
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