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 | |
| SAGEw_adv=1.02025.09 | 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 | |
| SAGEw_adv=0.52025.09 | 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 | |
| SAGEAdversarial weights (w_adv)=1.02025.09 | 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 | |
| SAGEw_adv=1.02025.09 | 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 | |
| SAGEw_adv=0.02025.09 | 16.26 | 1.065 | 0.332 | 1.998 | 0.677 | 0.948 | 1.459 | 9.313 | 0.054 | |
| SAGEAdversarial weights (w_adv)=0.52025.09 | 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 | |
| SAGEAdversarial weights (w_adv)=0.02025.09 | 11.2 | 0.722 | 0.332 | 2 | 0.738 | 0.956 | 1.456 | 9.344 | 0.055 | |
| SAGEw_adv=0.52025.09 | 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 | |
| SAGEw_adv=0.02025.09 | 4.89 | 0.397 | 0.332 | 2 | 0.707 | 0.951 | 1.46 | 9.332 | 0.055 |