ResearchBenchmarksMotion 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