Autonomous Driving on WOMD Normal scenarios
11.8Crash RateAlignADV
Evaluation results
| Method | Links | |||||||
|---|---|---|---|---|---|---|---|---|
| AlignADVScenario Generation Method=Solvable Adv, Curriculum Sampling Strategy=Dynamic curriculum sampling2026.06 | 11.8 | 79.3 | 0.404 | 54.15 | 564,274 | 582,638 | 40.6 | |
| StaticScenario Generation Method=Solvable Adv, Curriculum Sampling Strategy=Static sampling2026.06 | 14.7 | 74.47 | 0.468 | 50.45 | 876,497 | — | 7.7 | |
| Solvable AdvScenario Generation Method=Solvable Adv, Curriculum Sampling Strategy=Random sampling2026.06 | 14.79 | 77.84 | 0.432 | 53.43 | 692,842 | 601,022 | 27.1 | |
| HistoryScenario Generation Method=Solvable Adv, Curriculum Sampling Strategy=Historical performance-based sampling2026.06 | 14.85 | 77.13 | 0.434 | 51.9 | 913,249 | 601,062 | 3.9 | |
| Vanilla AdvScenario Generation Method=Vanilla Adv, Curriculum Sampling Strategy=Random sampling2026.06 | 15.95 | 75.73 | 0.461 | 50.68 | 950,002 | 858,170 | — | |
| ReplayScenario Generation Method=Replay, Curriculum Sampling Strategy=Random sampling2026.06 | 18.65 | 73.69 | 0.482 | 49.01 | — | — | — |