---
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.