ResearchBenchmarksMotion Planning on UrbanScenarios AdvSim generated scenarios v1.0 (val)Motion Planning on UrbanScenarios AdvSim generated scenarios v1.0 (val)Follow3.9Collision Rate (3s)P33.4886.2699.0511.831Jan 16, 2021Evaluation resultsMethodMethodLinksCollision Rate (3s)Collision Rate (5s)L2 Error (Human, 3s)L2 Error (Human, 5s)Lat Accel (m/s^2)Jerk (m/s^3)P3Scenario type=Adversar...Scenario type=Adversarial (AdvSim)2021.013.9322.286.633.182.18PLTScenario type=Adversar...Scenario type=Adversarial (AdvSim)2021.015.531.62.557.323.512.38ILScenario type=Adversar...Scenario type=Adversarial (AdvSim)2021.018.925.25.4810.77——NMPScenario type=Adversar...Scenario type=Adversarial (AdvSim)2021.0114.242.24.8213.243.597.28