Closed-loop Motion Planning on WOMD closed-loop (test)
0.72Acceleration Error (m/s^2)Sample-Conditioned Differentiable Planning Framework
Evaluation results
| Method | Links | ||||||||
|---|---|---|---|---|---|---|---|---|---|
| Sample-Conditioned Differentiable Planning Framework2026.06 | 0.72 | 96 | 80.48 | 2.5 | 0.21 | 1.13 | 2.18 | 3.99 | |
| Human2026.06 | 0.74 | — | — | 4.3 | 0.11 | — | — | — | |
| DIPP2026.06 | 0.97 | 67 | 57.94 | 4.14 | 1.84 | 3.19 | 7.1 | 18.83 | |
| GameFormer2026.06 | 1.19 | 45 | 41.68 | 8.27 | 1.99 | 2.96 | 6.99 | 23.69 | |
| Vanilla IL2026.06 | 6.73 | 60 | 8.52 | 98.48 | 5.73 | 11.91 | 23.3 | 50.18 | |
| IL + Prediction2026.06 | 7.08 | 53 | 10.6 | 104.46 | 4.77 | 12.37 | 23.87 | 49.8 |