Waymo Open Motion Dataset
Benchmarks
| Task Name | Dataset Name | SOTA Result | Trend | |
|---|---|---|---|---|
| Trajectory Prediction | Waymo Open Motion Dataset (WOMD) (test) | minADE0.5304 | 43 | |
| Adversarial Scenario Generation | Waymo Open Motion Dataset Replay policy | Attack Success Rate100 | 27 | |
| Joint Prediction | Waymo Open Motion Dataset (WOMD) Interaction (test) | minADE0.7834 | 26 | |
| Trajectory Prediction | Waymo Open Motion Dataset | minADE (occluded)0.78 | 20 | |
| Runtime Safety Monitoring | Waymo Open Motion Dataset (WOMD) | q_phi8.11 | 19 | |
| Initial Scene Generation | Waymo Open Motion Dataset (WOMD) (initial) | Position Error0.073 | 16 | |
| Traffic Simulation | Waymo Open Motion Dataset (WOMD) v2025 (private test) | RMM Score78.67 | 14 | |
| Marginal Motion Prediction | Waymo Open Motion Dataset (WOMD) Motion Leaderboard v1.1 (test) | minADE0.3386 | 12 | |
| Marginal Motion Prediction | Waymo Open Motion Dataset (WOMD) (val) | minADE0.3525 | 11 | |
| Traffic Simulation | Waymo Open Motion Dataset (WOMD) 1.1 (test) | RMM Score76.88 | 10 | |
| Joint Motion Prediction | Waymo Open Motion Dataset (WOMD) (val) | minADE0.746 | 9 | |
| Marginal Motion Prediction | Waymo Open Motion Dataset (WOMD) (test) | minADE0.5718 | 8 | |
| Multi-Agent Motion Prediction | Waymo Open Motion Dataset (WOMD) Interactive (val) | Overlap0.091 | 6 | |
| Joint Motion Prediction | Waymo Open Motion Dataset (WOMD) (test) | minADE0.9181 | 6 | |
| Marginal Motion Prediction | Waymo Open Motion Dataset (WOMD) v1.1 (val) | minADE0.516 | 6 | |
| Motion forecasting | Waymo Open Motion Dataset 2021 | minFDE1.126 | 6 | |
| Trajectory Planning | Waymo Open Motion Dataset (WOMD) | Minimum TTC7.72 | 5 | |
| Interactive Trajectory Generation | Waymo Open Motion Dataset (WOMD) interactive (test) | Collision Rate (CR)1.89 | 5 | |
| Scenario Generation | Waymo Open Motion Dataset WOMD (test) | Realism Score77.3 | 5 | |
| Joint Outcome Classification | Waymo Open Motion Dataset (WOMD) (test) | Precision57.73 | 5 | |
| Motion Prediction | Waymo Open Motion Dataset (WOMD) (val) | mAP45.93 | 4 | |
| Interactive Motion Forecasting | Waymo Open Motion Dataset (val) | mAP24.41 | 4 | |
| Motion Forecasting | Waymo Open Motion Dataset (test) | minFDE (6s)1.46 | 4 | |
| Motion Prediction | Waymo Open Motion Dataset (WOMD) Public Leaderboard 2021 (test) | minDE1.158 | 4 | |
| Joint Prediction | Waymo Open Motion Dataset (WOMD) Interaction (val) | minADE0.891 | 3 |
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