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Adversarial Scenario Generation on Waymo Open Motion Dataset

100Attack Success Rate

Rule

Updated 28d ago

Evaluation Results

Method
Rule 2025.09	100	5.048	2.798	5.614	1.734	7.724	2.08	8.546	0.204
CAT 2025.09	94.85	3.961	8.941	3.143	2.466	9.078	1.556	7.233	0.225
SAGE 2025.09	76.15	4.121	1.429	2.479	0.731	1.084	2.098	8.088	0.184
AdvTrajOpt 2025.09	70.46	2.652	4.5	2.775	2.547	10.16	1.754	6.177	0.268
Rule 2025.09	65.57	2.761	2.18	113.7	1.803	6.148	10.85	13.47	0.336
SEAL 2025.09	63.93	1.269	3.017	2.423	2.732	11.612	1.544	6.959	0.202
SAGE 2025.09	50.41	2.523	0.483	2.064	0.755	0.949	1.521	8.471	0.079
KING 2025.09	40.85	2.243	5.883	3.434	3.126	6.056	0.972	255.5	0.098
GOOSE 2025.09	36.07	2.378	4.718	21.32	4.426	14.48	6.368	8.286	0.154
SEAL 2025.09	31.4	0.752	5.871	2.684	3.03	11.98	1.563	8.267	0.267
CAT 2025.09	30.33	1.319	8.191	3.039	2.623	6.967	1.539	8.877	0.187
SAGE 2025.09	28.42	1.4	1.468	2.496	0.792	1.366	2.098	8.114	0.188
Rule 2025.09	24.18	0.724	2.623	111.184	1.658	6.386	7.631	10.572	0.248
SAGE 2025.09	19.84	0.749	1.43	2.48	0.788	1.087	2.1	8.1	0.185
SEAL 2025.09	19.45	1.584	4.902	2.584	3.26	9.178	1.494	6.756	0.248
AdvTrajOpt 2025.09	19.4	0.992	4.542	2.779	2.459	9.973	1.749	6.187	0.269
KING 2025.09	19.14	1.148	2.041	2.596	3.114	5.857	0.983	259.1	0.097
AdvTrajOpt 2025.09	19	0.543	4.445	2.818	2.567	10.833	1.753	6.207	0.271
CAT 2025.09	18.21	0.659	8.346	3.071	2.799	9.647	1.565	7.781	0.201
KING 2025.09	16.43	0.558	2.445	2.565	3.116	5.807	0.956	256.921	0.097
SAGE 2025.09	16.26	1.065	0.332	1.998	0.677	0.948	1.459	9.313	0.054
SAGE 2025.09	13.66	0.819	0.496	2.066	0.82	0.82	1.515	8.475	0.08
GOOSE 2025.09	12.46	0.667	4.369	15.47	3.507	11.45	4.662	8.07	0.152
SAGE 2025.09	11.2	0.722	0.332	2	0.738	0.956	1.456	9.344	0.055
SAGE 2025.09	11.14	0.466	0.497	2.068	0.815	0.951	1.523	8.482	0.08
GOOSE 2025.09	5.1	0.325	2.387	14.56	4.363	14.31	5.322	8.107	0.167
SAGE 2025.09	4.89	0.397	0.332	2	0.707	0.951	1.46	9.332	0.055