ResearchBenchmarksDensity Reconstruction on NGSIM 5% Penetration Rate (test)Density Reconstruction on NGSIM 5% Penetration Rate (test)Follow4.86MAEPEGP-LWR4.84444.94975.0555.1603Dec 3, 2025Evaluation resultsMethodMethodLinksMAERMSEPEGP-LWRPenetration Rate=5%Penetration Rate=5%2025.124.869.15RotatedPenetration Rate=5%Penetration Rate=5%2025.125.059.35PEGP-ARZPenetration Rate=5%Penetration Rate=5%2025.125.139.66ASMPenetration Rate=5%Penetration Rate=5%2025.125.259.66