ResearchBenchmarksScenario Generation on Waymo Open Motion Dataset WOMD (test)Scenario Generation on Waymo Open Motion Dataset WOMD (test)Follow77.3Realism ScoreSaFeR69.843271.779173.71575.6509Mar 4, 2026Evaluation resultsMethodMethodLinksRealism ScoreKinematics ScoreInteraction ScoreMap Adherence ScoreSaFeR2026.0377.347.9882.5487.31Diffusion2026.0376.4447.7181.3586.53SMART2026.0375.9547.4980.3986.52GUMP2026.0374.4647.3777.9185.51QCNet2026.0370.1342.9871.583.87