Traffic Simulation on Waymo Open Motion Dataset (WOMD)
0JSD Speed DeviationLog replay
Evaluation Results
| Method | Links | ||||||||
|---|---|---|---|---|---|---|---|---|---|
| Log replayBase Model=Log, Strategy=Log replay2026.06 | 0 | 0 | 0 | 0.56 | 5.2 | 1.59 | 14.4 | 20.7 | |
| Log replayBase Model=Log, Strategy=Log replay2026.06 | 0 | 0 | 0 | 0.56 | 5.2 | 1.59 | 14.4 | 20.7 | |
| CRAFTBase Model=SMART, Strategy=CRAFT2026.06 | 0.91 | 2.2 | 0.72 | 2.6 | 11.9 | 2.06 | 17.1 | 25.9 | |
| CRAFTBase Model=SMART, Strategy=CRAFT2026.06 | 0.91 | 2.2 | 0.72 | 2.6 | 11.9 | 2.06 | 17.1 | 25.9 | |
| CRAFTBase Model=CAT-K, Strategy=CRAFT2026.06 | 0.92 | 2.2 | 0.69 | 2.46 | 10.8 | 2.26 | 16.6 | 26.6 | |
| CRAFTBase Model=CAT-K, Strategy=CRAFT2026.06 | 0.92 | 2.2 | 0.69 | 2.46 | 10.8 | 2.26 | 16.6 | 26.6 | |
| CAT-KBase Model=CAT-K, Strategy=Top-K, Reference=CVPR20252026.06 | 1.02 | 2.96 | 0.53 | 3.41 | 15.7 | 2.54 | 19.5 | 36.5 | |
| CAT-KBase Model=CAT-K, Strategy=Top-K2026.06 | 1.02 | 2.96 | 0.53 | 3.41 | 15.7 | 2.54 | 19.5 | 36.5 | |
| R1SimBase Model=R1Sim, Strategy=Top-K, Reference=IEEE R-AL2026.06 | 1.05 | 3.16 | 0.56 | 3.36 | 15.5 | 2.23 | 16.3 | 36.6 | |
| R1SimBase Model=R1Sim, Strategy=Top-K2026.06 | 1.05 | 3.16 | 0.56 | 3.36 | 15.5 | 2.23 | 16.3 | 36.6 | |
| SMARTBase Model=SMART, Strategy=Top-K, Reference=NeurIPS20242026.06 | 1.07 | 3.23 | 0.56 | 3.13 | 15.1 | 2.52 | 19.1 | 38.8 | |
| SMARTBase Model=SMART, Strategy=Top-K2026.06 | 1.07 | 3.23 | 0.56 | 3.13 | 15.1 | 2.52 | 19.1 | 38.8 | |
| Auto-labeler-rankBase Model=CAT-K, Strategy=Auto-labeler-rank2026.06 | 1.09 | 3.15 | 0.55 | 2.72 | 12.8 | 2.39 | 17.9 | 34.3 | |
| CPE-rankBase Model=CAT-K, Strategy=CPE-rank2026.06 | 1.09 | 3.18 | 0.55 | 3.12 | 13.9 | 2.45 | 17.9 | 34 | |
| CPE-rankBase Model=SMART, Strategy=CPE-rank2026.06 | 1.09 | 3.16 | 0.55 | 2.83 | 13 | 2.29 | 17.7 | 35.3 | |
| Auto-labelerBase Model=CAT-K, Strategy=Auto-labeler2026.06 | 1.19 | 3.02 | 0.67 | 3.21 | 15.5 | 2.57 | 20.3 | 36.7 | |
| Auto-labelerBase Model=CAT-K, Strategy=Auto-labeler2026.06 | 1.19 | 3.02 | 0.67 | 3.21 | 15.5 | 2.57 | 20.3 | 36.7 | |
| GUMPBase Model=GUMP, Strategy=Top-K, Reference=ECCV20242026.06 | 4.78 | 5.41 | 11.36 | 4.06 | 36.3 | 3.8 | 26.9 | 32.7 | |
| GUMPBase Model=GUMP, Strategy=Top-K2026.06 | 4.78 | 5.41 | 11.36 | 4.06 | 36.3 | 3.8 | 26.9 | 32.7 |