# Occlusion Scenario Generation on WOMD 100 scenarios (val)

Source: [Occlusion Scenario Generation on WOMD 100 scenarios (val)](<https://www.sota2.com/research/sota/occlusion-scenario-generation-on-womd-100-scenarios-val>)

Collection index: [llms.txt](<https://www.sota2.com/research/llms.txt>)

Data updated: 2026-05-22T08:28:01.890Z

Evaluation of models generating occlusion scenarios using the validation split of the WOMD 100 scenarios dataset, focusing on operational metrics like Time-to-Collision (TTC), OnRoad Rate, and OffRoad Distance.

A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage.

| Scope | Recorded value |
| --- | --- |
| Task | Occlusion Scenario Generation |
| Dataset (including any stated split) | WOMD 100 scenarios (val) |
| Metric | TTC (s) |
| Unit | TIME |
| Direction | Lower is better |
| Results loaded | 3 of 3 |
| Coverage | All results currently returned for this benchmark |

Evaluation settings may differ between results. The original papers and recorded configurations are needed to establish comparability. A shared metric name alone does not establish an identical protocol.

## Metrics

- [TTC (s)](<https://www.sota2.com/research/sota/occlusion-scenario-generation-on-womd-100-scenarios-val.md?metric=TTC%20(s)>): Lower is better; unit: TIME.

- [OnRoad Rate](<https://www.sota2.com/research/sota/occlusion-scenario-generation-on-womd-100-scenarios-val.md?metric=OnRoad%20Rate>): Higher is better; unit: PERCENT.

- [OffRoad Distance (m)](<https://www.sota2.com/research/sota/occlusion-scenario-generation-on-womd-100-scenarios-val.md?metric=OffRoad%20Distance%20(m)>): Lower is better; unit: SIZE.

- [Interacting Agents Num](<https://www.sota2.com/research/sota/occlusion-scenario-generation-on-womd-100-scenarios-val.md?metric=Interacting%20Agents%20Num>): Higher is better; unit: SCALAR.

## Recorded results

| Method | TTC (s) | Result date | Report paper |
| --- | --- | --- | --- |
| Unified Risk Map | 24.52 | Not recorded | 6a0fe331f984739ed6739f59 |
| Rule-based | 41.68 | Not recorded | 6a0fe331f984739ed6739f59 |
| Log-Replay | 70.36 | Not recorded | 6a0fe331f984739ed6739f59 |

### Unified Risk Map

TTC (s): 24.52. Result ID: 6a10138cfbc373592c090bcf.

[Reporting paper](<https://www.sota2.com/research/paper/6a0fe331f984739ed6739f59.md>)

[Method origin paper](<https://www.sota2.com/research/paper/6a0fe331f984739ed6739f59.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### Rule-based

TTC (s): 41.68. Result ID: 6a10138cfbc373592c090bce.

[Reporting paper](<https://www.sota2.com/research/paper/6a0fe331f984739ed6739f59.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa717b1e209131cea51895.md>)

[Implementation](<https://github.com/waymo-research/waymo-open-dataset/blob/master/src/waymo_open_dataset/wdl_limited/sim_agents_metrics/>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### Log-Replay

TTC (s): 70.36. Result ID: 6a10138cfbc373592c090bcd.

[Reporting paper](<https://www.sota2.com/research/paper/6a0fe331f984739ed6739f59.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

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