| --- |
| license: mit |
| library_name: mmdetection3d |
| tags: |
| - autonomous-driving |
| - nuscenes |
| - world-model |
| - trajectory-prediction |
| - motion-planning |
| - long-horizon-planning |
| --- |
| |
| # MomWorld: nuScenes-6s Checkpoint |
|
|
| This is the best audited **MomWorld nuScenes-6s checkpoint**, trained and |
| evaluated for 6-second open-loop planning on the nuScenes benchmark. |
| MomWorld extends MomAD with a |
| mode-conditioned latent multi-agent world rollout and temporally gated |
| residual planning corrections. |
|
|
| ## Checkpoint |
|
|
| | File | Training point | Size | SHA256 | |
| | --- | ---: | ---: | --- | |
| | `momworld_nuscenes_6s_oracle_iter_18752.pth` | iter 18,752 | 366,852,408 bytes | `2c003f12a4e956eeb31f286ea01afa195b810bd859e021ae0f0dc1e2f3201376` | |
|
|
| The checkpoint was warm-started from the MomAD planner and trained with the |
| matched oracle-mode regularized 6-second configuration included in this |
| repository. It predicts 12 future steps at 0.5-second intervals. |
|
|
| ## Audited nuScenes validation results |
|
|
| Fresh evaluation used all 6,019 nuScenes validation samples. |
|
|
| | Metric | Result | |
| | --- | ---: | |
| | Detection mAP | 0.4152 | |
| | NDS | 0.5257 | |
| | AMOTA | 0.3799 | |
| | Map mAP | 0.5616 | |
| | Planning L2 | 0.4945 m | |
| | Object collision | 1.002% | |
| | Box collision | 0.161% | |
| | Temporal consistency | 0.3995 | |
|
|
| Long-horizon planning breakdown: |
|
|
| | Horizon | L2 (m) | Box collision (%) | Consistency (m) | |
| | ---: | ---: | ---: | ---: | |
| | 4 s | 1.2786 | 0.825 | 0.9271 | |
| | 5 s | 1.7625 | 1.358 | 1.1855 | |
| | 6 s | 2.3080 | 1.966 | 1.4593 | |
|
|
| ## Code and configuration |
|
|
| - Code: https://github.com/modaxiansheng/MomWorld |
| - Configuration: `MomAD_small_stage2_MomAD_World_model_6s_v2_oracle_mode_reg02_resume_repro.py` |
| - Latent world model: `open_loop/projects/mmdet3d_plugin/models/motion/latent_world_model_MomAD_World_model_6s.py` |
| - Planning head: `open_loop/projects/mmdet3d_plugin/models/motion/motion_planning_head_MomAD_World_model_6s_v2_oracle_reg_backup_20260628.py` |
|
|
| Example evaluation from the MomWorld repository root: |
|
|
| ```bash |
| python open_loop/tools/test.py \ |
| open_loop/projects/configs/MomAD_small_stage2_MomAD_World_model_6s_v2_oracle_mode_reg02_resume_repro.py \ |
| /path/to/momworld_nuscenes_6s_oracle_iter_18752.pth \ |
| --out /tmp/momworld_results.pkl \ |
| --eval bbox |
| ``` |
|
|
| The nuScenes dataset, generated metadata, anchors, and evaluation outputs are |
| not included. Follow the repository setup instructions and the nuScenes terms |
| of use. This is a research checkpoint and should not be used as a standalone |
| safety-critical driving system. |
|
|
