Waymo Open Motion Dataset
Benchmarks
TaskDatasetSOTA resultTrendResults
Waymo Open Motion Dataset (WOMD) (test)
0.53minADE
43
Waymo Open Motion Dataset Replay policy
100Attack Success Rate
27
Waymo Open Motion Dataset (WOMD) Interaction (test)
0.783minADE
26
Waymo Open Motion Dataset
0.78minADE (occluded)
20
Waymo Open Motion Dataset (WOMD)
0JSD Speed Deviation
19
Waymo Open Motion Dataset (WOMD)
8.11q_phi
19
Waymo Open Motion Dataset (WOMD) (initial)
0.073Position Error
16
Waymo Open Motion Dataset (WOMD) v2025 (private test)
78.67RMM Score
14
Waymo Open Motion Dataset (WOMD) Motion Leaderboard v1.1 (test)
0.339minADE
12
Waymo Open Motion Dataset (WOMD) (val)
0.353minADE
11
Waymo Open Motion Dataset (WOMD) 10k held-out scenarios Human-replay (test)
97.6Score
10
Waymo Open Motion Dataset (WOMD) Self-play 10k held-out scenarios (test)
0Collision Rate (%)
10
Waymo Open Motion Dataset (WOMD) 1.1 (test)
76.88RMM Score
10
Waymo Open Motion Dataset (WOMD) (evaluation set)
8.6Overlap Rate
9
Waymo Open Motion Dataset (WOMD) (val)
0.746minADE
9
Waymo Open Motion Dataset (WOMD) 2025 challenge (test)
0.557Kinematic Score
8
Waymo Open Motion Dataset (WOMD) (test)
0.572minADE
8
Waymo Open Motion Dataset (WOMD) Interactive (val)
0.091Overlap
6
Waymo Open Motion Dataset (WOMD) (test)
0.918minADE
6
Waymo Open Motion Dataset (WOMD) v1.1 (val)
0.516minADE
6
Waymo Open Motion Dataset 2021
1.126minFDE
6
Waymo Open Motion Dataset (WOMD)
7.72Minimum TTC
5
Waymo Open Motion Dataset (WOMD) interactive (test)
1.89Collision Rate (CR)
5
Waymo Open Motion Dataset WOMD (test)
77.3Realism Score
5
Waymo Open Motion Dataset (WOMD) (test)
57.73Precision
5