ResearchBenchmarksMotion Forecasting on Argoverse 2Motion Forecasting on Argoverse 2Follow0.64minADE (K=6)SHARP0.5761.0081.441.872Mar 30, 2026Evaluation resultsMethodMethodLinksminADE (K=6)minFDE (K=6)MR (K=6)SHARPInput Steps=50, Tcl=5 sInput Steps=50, Tcl=5 s2026.030.641.2—SHARPInput Steps=30, Tcl=3 sInput Steps=30, Tcl=3 s2026.030.731.44—SHARPInput Steps=10, Tcl=1 sInput Steps=10, Tcl=1 s2026.030.761.48—POP-QInput Steps=50, Tcl=5 sInput Steps=50, Tcl=5 s2026.030.791.45—POP-QInput Steps=30, Tcl=3 sInput Steps=30, Tcl=3 s2026.030.921.7—POP-QInput Steps=10, Tcl=1 sInput Steps=10, Tcl=1 s2026.032.244.16—