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MomWorld
ZI-YING/MomWorld
MomWorld is a machine learning model from ZI-YING. Use it for the machine learning task on the model card, and read the license before you ship it in a product. It is set up for mmdetection3d. The card lists the license as mit.
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 rollou…
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Updated Aug 4, 2026
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At a glance
- Library
- mmdetection3d
- License
- mit
- Access
- Public
- Created
- Aug 4, 2026
- Updated
- Aug 4, 2026
- SHA
- dd81af1f
Model card
From the Hugging Face model README
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:
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.
- Library
- mmdetection3d
- License
- mit
- Created
- Aug 4, 2026
- Updated
- Aug 4, 2026