Initial Scene Generation on Waymo Open Motion Dataset (WOMD) (initial)
0.073Position ErrorUMGen
Evaluation results
| Method | Links | ||||
|---|---|---|---|---|---|
| UMGen2025.03 | 0.073 | 0.055 | 0.0533 | 0.1502 | |
| UniGen w/ Traj. InputsEvaluation Protocol=Strict, Future Trajectory Usage=true2025.06 | 0.1197 | 0.1897 | 0.0826 | 0.1657 | |
| UniGen2025.03 | 0.1208 | 0.1104 | 0.0815 | 0.1591 | |
| UniGen CombinedEvaluation Protocol=Strict, Future Trajectory Usage=true2025.06 | 0.1208 | 0.1104 | 0.0815 | 0.1591 | |
| UniGen w/ Agent-Centric RoadEvaluation Protocol=Strict, Future Trajectory Usage=false2025.06 | 0.1217 | 0.1095 | 0.0817 | 0.1679 | |
| MotionCLIPEvaluation Protocol=Strict, Future Trajectory Usage=false2025.06 | 0.1236 | 0.1446 | 0.1234 | 0.1958 | |
| SceneStreamerEvaluation Protocol=Strict, Decoding Strategy=Autoregressive2025.06 | 0.1291 | 0.127 | 0.0743 | 0.197 | |
| LCTGen2025.03 | 0.1319 | 0.1418 | 0.1092 | 0.1938 | |
| LCTGenEvaluation Protocol=Strict, Future Trajectory Usage=false2025.06 | 0.1319 | 0.1418 | 0.1092 | 0.1948 | |
| UniGen JointEvaluation Protocol=Strict, Future Trajectory Usage=false2025.06 | 0.1323 | 0.2251 | 0.0831 | 0.1915 | |
| SceneGen2025.03 | 0.1362 | 0.1307 | 0.119 | 0.1772 | |
| TrafficGen2025.03 | 0.1451 | 0.1325 | 0.0926 | 0.1733 | |
| TrafficGenEvaluation Protocol=Strict, Future Trajectory Usage=false2025.06 | 0.1451 | 0.1325 | 0.0926 | 0.1733 | |
| SceneStreamer w/o AR DecodingEvaluation Protocol=Strict, Decoding Strategy=Parallel2025.06 | 0.1603 | 0.1646 | 0.1172 | 0.2114 | |
| SceneStreamerEvaluation Protocol=Relaxed, Decoding Strategy=Autoregressive2025.06 | 0.2198 | 0.0665 | 0.0279 | 0.073 | |
| SceneStreamer w/o AR DecodingEvaluation Protocol=Relaxed, Decoding Strategy=Parallel2025.06 | 0.3237 | 0.1203 | 0.063 | 0.1183 |