Long-horizon Traffic Scenario Generation on nuScenes T=2s horizon (closed-loop evaluation)
0.81CS (Collision Score)TrafficSim
Evaluation results
| Method | Links | ||
|---|---|---|---|
| TrafficSimNumber of controllable agents=5, Simulation frequency=0.5Hz2024.12 | 0.81 | 0.46 | |
| CTGNumber of controllable agents=5, Simulation frequency=0.5Hz2024.12 | 0.48 | 0.68 | |
| CCDiffNumber of controllable agents=5, Simulation frequency=0.5Hz2024.12 | 0.48 | 0.74 | |
| STRIVENumber of controllable agents=5, Simulation frequency=0.5Hz2024.12 | 0.37 | 0.36 | |
| SimNetNumber of controllable agents=5, Simulation frequency=0.5Hz2024.12 | 0.22 | 0.78 | |
| BITSNumber of controllable agents=5, Simulation frequency=0.5Hz2024.12 | 0.11 | 0.58 |