Trajectory Planning on Waymo Open Motion Dataset (WOMD) (evaluation set)
8.6Overlap RateMAGNIFIED
Evaluation Results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| MAGNIFIEDWeighting parameter w_o=0.252026.06 | 8.6 | 1.704 | 1.41 | 3.68 | 103.1 | |
| MAGNIFIEDWeighting parameter w_o=0.0, Mode=Overlap only2026.06 | 8.76 | 1.712 | 1.48 | 5.88 | 100.5 | |
| MAGNIFIEDWeighting parameter w_o=0.52026.06 | 9.04 | 1.726 | 1.51 | 3.42 | 100.9 | |
| MAGNIFIEDWeighting parameter w_o=0.752026.06 | 9.16 | 1.722 | 1.54 | 3.56 | 98.6 | |
| MAGNIFIEDWeighting parameter w_o=1.0, Mode=Off-road only2026.06 | 10.06 | 1.77 | 1.7 | 3.57 | 95.4 | |
| SFT2026.06 | 10.1 | 1.785 | 1.71 | 5.6 | 94.9 | |
| Wayformer (re-plan)Re-planning frequency=every 5 steps2026.06 | 10.68 | — | — | 7.89 | 123.58 | |
| SFT w/o routeRoute input configuration=w/o route2026.06 | 10.7 | 1.787 | 1.78 | 6.64 | 96.4 | |
| SFT w/ blackout imagesVisual input configuration=blackout images2026.06 | 18.9 | 3.179 | 3.29 | 7.8 | 105.7 |