ResearchBenchmarksControlled Driving Video Generation on Waymo Open DatasetControlled Driving Video Generation on Waymo Open DatasetFollow29.49PSNRChopGrad27.212427.803728.39528.9863Mar 18, 2026Evaluation resultsMethodMethodLinksPSNRSSIMLPIPSDISTSFIDFVDChopGradFine-tuning steps=1000...Fine-tuning steps=1000, Fine-tuning resolution=720x1280, Inference resolution=720x1280, Inference duration (frames)=492026.0329.4990.310.17190.05615.86154.49MirageMode=hires inferenceMode=hires inference2026.0327.389.120.20670.07410.28204.66