ResearchBenchmarksMotion Forecasting on M3CADMotion Forecasting on M3CADFollow0.2797Average Displacement Error (ADE)BFF0.2764880.2981690.319850.341531May 10, 2025Evaluation resultsMethodMethodLinksAverage Displacement Error (ADE)Final Displacement Error (FDE)BFFmodule=BEV Feature Fusionmodule=BEV Feature Fusion2025.050.27970.2976RPFmodule=Reference Point...module=Reference Point Fusion2025.050.3460.358QFFmodule=Query Feature F...module=Query Feature Fusion2025.050.3490.3627No fusion2025.050.360.38