WOMD
Benchmarks
| Task Name | Dataset Name | SOTA Result | Trend | |
|---|---|---|---|---|
| Adversarial Generation | WOMD | Attack Success Rate65.57 | 17 | |
| Marginal motion prediction | WOMD (val) | minADE0.5228 | 11 | |
| Motion Prediction | WOMD 1.0 (test) | mAP44.92 | 9 | |
| Trajectory Simulation | WOMD WOSAC 1.2 (test) | Realism Score76.63 | 8 | |
| Trajectory Prediction | WOMD | mADE0.915 | 8 | |
| Motion Simulation | WOMD (val) | NLL (bits)2.83 | 8 | |
| Open-loop planning | WOMD | Collision Rate1.98 | 8 | |
| Motion Simulation | WOMD Sim Agents 2024 | Realism Score75.11 | 7 | |
| Autonomous Driving | WOMD Normal scenarios | Crash Rate11.8 | 6 | |
| Autonomous Driving Policy Evaluation | WOMD Adversarial scenarios (test) | Crash Rate31.37 | 6 | |
| Closed-loop Motion Planning | WOMD closed-loop (test) | Acceleration Error (m/s^2)0.72 | 6 | |
| Open-loop Motion Planning and Prediction | WOMD Scenario | Acceleration (m/s^2)0.47 | 6 | |
| Trajectory Prediction | WOMD interactive (val) | minADE (m)0.68 | 6 | |
| Safety-critical scenario generation | WOMD | CR0.915 | 5 | |
| Open-loop motion behavior modeling | WOMD (2% val) | Collision Rate2.7 | 5 | |
| Counterfactual Rollout Generation | WOMD | Coverage287.17 | 4 | |
| Closed-loop Driving Policy Evaluation | WOMD adversarial environments, w_adv=1.0 (test) | Reward45.14 | 4 | |
| Motion Behavior Generation | WOMD Top-10% Safety-Critical | Collision Rate17.12 | 4 | |
| Motion Behavior Modeling | WOMD Overall-3000 | Collision Rate0.023 | 4 | |
| Occlusion Scenario Generation | WOMD 100 scenarios (val) | TTC (s)24.52 | 3 | |
| Anomaly Detection | WOMD (val) | AUC-ROC0.766 | 3 | |
| Sim Agents Simulation | WOMD Long-Horizon 60s | Collision Rate0.35 | 3 | |
| Motion Prediction | WOMD 1.0 (val) | mAP0.415 | 2 |
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