Adversarial Scenario Generation on Waymo Open Motion Dataset benchmark leaderboard · SOTA2 Research

Adversarial Scenario Generation on Waymo Open Motion Dataset

100Attack Success RateRule

Evaluation Results

Method	Links
Rule2025.09		100	5.048	2.798	5.614	1.734	7.724	2.08	8.546	0.204
CAT2025.09		94.85	3.961	8.941	3.143	2.466	9.078	1.556	7.233	0.225
SAGE2025.09		76.15	4.121	1.429	2.479	0.731	1.084	2.098	8.088	0.184
AdvTrajOpt2025.09		70.46	2.652	4.5	2.775	2.547	10.16	1.754	6.177	0.268
Rule2025.09		65.57	2.761	2.18	113.7	1.803	6.148	10.85	13.47	0.336
SEAL2025.09		63.93	1.269	3.017	2.423	2.732	11.612	1.544	6.959	0.202
SAGE2025.09		50.41	2.523	0.483	2.064	0.755	0.949	1.521	8.471	0.079
KING2025.09		40.85	2.243	5.883	3.434	3.126	6.056	0.972	255.5	0.098
GOOSE2025.09		36.07	2.378	4.718	21.32	4.426	14.48	6.368	8.286	0.154
SEAL2025.09		31.4	0.752	5.871	2.684	3.03	11.98	1.563	8.267	0.267
CAT2025.09		30.33	1.319	8.191	3.039	2.623	6.967	1.539	8.877	0.187
SAGE2025.09		28.42	1.4	1.468	2.496	0.792	1.366	2.098	8.114	0.188
Rule2025.09		24.18	0.724	2.623	111.184	1.658	6.386	7.631	10.572	0.248
SAGE2025.09		19.84	0.749	1.43	2.48	0.788	1.087	2.1	8.1	0.185
SEAL2025.09		19.45	1.584	4.902	2.584	3.26	9.178	1.494	6.756	0.248
AdvTrajOpt2025.09		19.4	0.992	4.542	2.779	2.459	9.973	1.749	6.187	0.269
KING2025.09		19.14	1.148	2.041	2.596	3.114	5.857	0.983	259.1	0.097
AdvTrajOpt2025.09		19	0.543	4.445	2.818	2.567	10.833	1.753	6.207	0.271
CAT2025.09		18.21	0.659	8.346	3.071	2.799	9.647	1.565	7.781	0.201
KING2025.09		16.43	0.558	2.445	2.565	3.116	5.807	0.956	256.921	0.097
SAGE2025.09		16.26	1.065	0.332	1.998	0.677	0.948	1.459	9.313	0.054
SAGE2025.09		13.66	0.819	0.496	2.066	0.82	0.82	1.515	8.475	0.08
GOOSE2025.09		12.46	0.667	4.369	15.47	3.507	11.45	4.662	8.07	0.152
SAGE2025.09		11.2	0.722	0.332	2	0.738	0.956	1.456	9.344	0.055
SAGE2025.09		11.14	0.466	0.497	2.068	0.815	0.951	1.523	8.482	0.08
GOOSE2025.09		5.1	0.325	2.387	14.56	4.363	14.31	5.322	8.107	0.167
SAGE2025.09		4.89	0.397	0.332	2	0.707	0.951	1.46	9.332	0.055