Scene Generation on Waymo
0N-Dist.Oracle
Evaluation Results
| Method | Links | ||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| OracleZero-shot evaluation=true2025.12 | 0 | 0 | 0 | 0 | 22 | 7.47 | 0 | 0 | 99.77 | 96.33 | 89.33 | — | — | — | |
| DriveSceneGen(GT)Privileged=True, variant=GT, quoted_from=ScenarioDreamer2026.03 | 0.01 | — | — | — | — | — | — | — | — | — | — | 40.59 | 41.61 | 0.2 | |
| Nexus-ΩZero-shot evaluation=true2025.12 | 0.019 | 0.015 | 0.05 | 0.198 | 18 | 11.43 | 0.37 | 4.32 | 99.4 | 92.65 | 81.95 | — | — | — | |
| D. PolicyZero-shot evaluation=true2025.12 | 0.034 | 0.026 | 0.081 | 0.229 | 35 | 19.23 | 1.04 | 11.35 | 98.86 | 86.74 | 64.55 | — | — | — | |
| SceneD.Zero-shot evaluation=true2025.12 | 0.077 | 0.022 | 0.148 | 0.249 | 39 | 22.94 | 1.22 | 12.18 | 98.81 | 86.57 | 61.01 | — | — | — | |
| NexusZero-shot evaluation=true2025.12 | 0.081 | 0.022 | 0.154 | 0.251 | 38 | 22.65 | 1.23 | 12.3 | 98.76 | 86.08 | 61.71 | — | — | — | |
| VectorWorld2026.03 | 0.094 | — | — | — | — | — | — | — | — | — | — | 0.94 | 39.03 | 4.69 | |
| ScenDream-Lvariant=L2026.03 | 0.21 | — | — | — | — | — | — | — | — | — | — | 1.38 | 38.92 | 4.8 | |
| ScenDream-Bvariant=B2026.03 | 0.32 | — | — | — | — | — | — | — | — | — | — | 1.61 | 38.23 | 5.4 |