# Trajectory Planning on Waymo Open Motion Dataset (WOMD) Source: [Trajectory Planning on Waymo Open Motion Dataset (WOMD)]() Collection index: [llms.txt]() Data updated: 2026-05-22T08:28:01.918Z Evaluation of trajectory planning performance on the general Waymo Open Motion Dataset (WOMD), focusing on safety and collision avoidance metrics like Time-to-Collision (TTC) and Risk Score. A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage. | Scope | Recorded value | | --- | --- | | Task | Trajectory Planning | | Dataset (including any stated split) | Waymo Open Motion Dataset (WOMD) | | Metric | Minimum TTC | | Unit | TIME | | Direction | Higher is better | | Results loaded | 5 of 5 | | Coverage | All results currently returned for this benchmark | Evaluation settings may differ between results. The original papers and recorded configurations are needed to establish comparability. A shared metric name alone does not establish an identical protocol. ## Metrics - [Minimum TTC](): Higher is better; unit: TIME. - [Average TTC](): Higher is better; unit: TIME. - [Risk Score](): Lower is better; unit: SCALAR. - [Critical Moments Count](): Lower is better; unit: SCALAR. ## Recorded results | Method | Minimum TTC | Result date | Report paper | | --- | --- | --- | --- | | Unified Risk Map | 7.72 | Not recorded | 6a0fe331f984739ed6739f59 | | O-Risk | 4.91 | Not recorded | 6a0fe331f984739ed6739f59 | | SRQ-P | 4.37 | Not recorded | 6a0fe331f984739ed6739f59 | | OPBP | 4.32 | Not recorded | 6a0fe331f984739ed6739f59 | | NOAP | 3.59 | Not recorded | 6a0fe331f984739ed6739f59 | ### Unified Risk Map Minimum TTC: 7.72. Result ID: 6a10138cfbc373592c090bd4. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### O-Risk Minimum TTC: 4.91. Result ID: 6a10138cfbc373592c090bd1. [Reporting paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### SRQ-P Minimum TTC: 4.37. Result ID: 6a10138cfbc373592c090bd2. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### OPBP Minimum TTC: 4.32. Result ID: 6a10138cfbc373592c090bd3. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### NOAP Minimum TTC: 3.59. Result ID: 6a10138cfbc373592c090bd0. [Reporting paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. Page 1 of 1. This is an index page, not the full collection.