End-to-End Forecasting on Argoverse 2 (val) benchmark leaderboard · SOTA2 Research

End-to-End Forecasting on Argoverse 2 (val)

31.21CDS (1-20)Joint Training

Evaluation Results

Method	Links
Joint Training2026.03		31.21	16.74	27.87	44.74	26.67	41.13	27.18	16.29	25	18.55	29.41	21.45	32.63	24.32	30.83
OMEN2026.03		29.19	14.56	25.82	41.37	22.27	37.55	28.97	14.18	26.01	18.48	24.74	20.15	31.79	—	29.36
Pseudo-Labeling2026.03		29.01	15.14	25.81	41.43	20.62	37.27	25.43	11.83	22.71	11.87	27.38	16	29.07	19.99	27.1
Pseudo-Labeling2026.03		28.54	15.27	25.48	40.91	19.76	36.68	26.89	12.96	24.1	15.65	26.25	18.47	30.22	19.66	27.94
CL-DETR2026.03		28.43	14.46	25.2	40.3	18.59	35.96	25.06	14.38	22.93	13.75	20.49	15.55	28.9	—	26.51
Forgetting2026.03		0	0.72	0.17	0	1.74	0.35	0	0.09	0.02	0	2.49	0.66	0	1.46	0.32