Trajectory Planning on Waymo Open Motion Dataset Non-Interactive
1.23minADEConsistency-Guided
Evaluation Results
| Method | Links | ||
|---|---|---|---|
| Consistency-Guided2026.02 | 1.23 | 0.59 | |
| DDPM-10denoising steps=102026.02 | 1.6 | 12.64 | |
| DDPM-20denoising steps=202026.02 | 1.6 | 11.26 | |
| Flow-AdaptiveQP refinement=true2026.02 | 1.61 | 0.11 | |
| Flow-Eulerintegration steps=5, QP refinement=true2026.02 | 1.61 | 0.13 | |
| Flow-Adaptive-NoQPQP refinement=false2026.02 | 1.7 | 0.81 | |
| Flow-Eulerintegration steps=50, QP refinement=true2026.02 | 1.74 | 0.12 | |
| Transformer2026.02 | 2.8 | 9.25 | |
| DDIM2026.02 | 6.25 | 22.89 |