# Motion Prediction on Argoverse official leaderboard (test) Source: [Motion Prediction on Argoverse official leaderboard (test)]() Collection index: [llms.txt]() Data updated: 2026-03-31T11:17:17.481Z Evaluation of motion prediction models on the official Argoverse leaderboard test set, assessed using metrics such as minADE/minFDE at 1 and 6 steps, Brier FDE, and Miss Rate (MR). A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage. | Scope | Recorded value | | --- | --- | | Task | Motion Prediction | | Dataset (including any stated split) | Argoverse official leaderboard (test) | | Metric | minADE (6 steps) | | Unit | SCALAR | | Direction | Lower is better | | Results loaded | 37 of 37 | | Coverage | All results currently returned for this benchmark | Evaluation settings may differ between results. The original papers and recorded configurations are needed to establish comparability. A shared metric name alone does not establish an identical protocol. ## Metrics - [minADE (6 steps)](): Lower is better; unit: SCALAR. - [minADE (1 step)](): Lower is better; unit: SCALAR. - [minFDE (1 step)](): Lower is better; unit: SCALAR. - [minFDE (6 steps)](): Lower is better; unit: SCALAR. - [Brier FDE (6 steps)](): Lower is better; unit: SCALAR. - [Miss Rate (6 steps)](): Lower is better; unit: PERCENT. ## Recorded results | Method | minADE (6 steps) | Result date | Report paper | | --- | --- | --- | --- | | DeMo | 0.61 | Not recorded | 69cb553e0636e5bf4afca137 | | ModeSeq | 0.63 | Not recorded | 69cb553e0636e5bf4afca137 | | SmartRefine | 0.63 | Not recorded | 69cb553e0636e5bf4afca137 | | Tamba | 0.64 | Not recorded | 69cb553e0636e5bf4afca137 | | HAMF | 0.64 | Not recorded | 69cb553e0636e5bf4afca137 | | MixForecast | 0.64 | Not recorded | 69cb553e0636e5bf4afca137 | | SHARP | 0.64 | Not recorded | 69cb553e0636e5bf4afca137 | | QCNet | 0.65 | Not recorded | 69cb553e0636e5bf4afca137 | | RealMotion | 0.66 | Not recorded | 69cb553e0636e5bf4afca137 | | ProphNet | 0.68 | Not recorded | 69cb553e0636e5bf4afca137 | | Forecast-MAE | 0.71 | Not recorded | 69cb553e0636e5bf4afca137 | | EMP-D | 0.71 | Not recorded | 69cb553e0636e5bf4afca137 | | MTR++ | 0.71 | Not recorded | 69cb553e0636e5bf4afca137 | | DyMap | 0.71 | Not recorded | 69cb553e0636e5bf4afca137 | | SIMPL | 0.72 | Not recorded | 69cb553e0636e5bf4afca137 | | GANet | 0.72 | Not recorded | 69cb553e0636e5bf4afca137 | | HPTR | 0.73 | Not recorded | 69cb553e0636e5bf4afca137 | | MTR | 0.73 | Not recorded | 69cb553e0636e5bf4afca137 | | ProIn | 0.73 | Not recorded | 69cb553e0636e5bf4afca137 | | R-Pred | 0.76 | Not recorded | 68fa700b1e209131cea48d14 | | HiVT | 0.77 | Not recorded | 68fa700b1e209131cea48d14 | | Wayformer | 0.77 | Not recorded | 68fa700b1e209131cea48d14 | | MultiPath++ | 0.79 | Not recorded | 68fa700b1e209131cea48d14 | | ITPNet baseline | 0.79 | Not recorded | 68fa700b1e209131cea48d14 | | SceneTransformer | 0.8 | Not recorded | 68fa700b1e209131cea48d14 | | LTP | 0.83 | Not recorded | 68fa700b1e209131cea48d14 | | mmTransformer | 0.84 | Not recorded | 68fa700b1e209131cea48d14 | | LaneGCN | 0.87 | Not recorded | 68fa700b1e209131cea48d14 | | TPCN | 0.87 | Not recorded | 68fa700b1e209131cea48d14 | | DenseTNT | 0.88 | Not recorded | 68fa700b1e209131cea48d14 | | HOME+GOHOME | 0.89 | Not recorded | 68fa700b1e209131cea48d14 | | LaneRCNN | 0.9 | Not recorded | 68fa700b1e209131cea48d14 | | LaPred | 0.91 | Not recorded | 68fa700b1e209131cea48d14 | | TNT | 0.91 | Not recorded | 68fa700b1e209131cea48d14 | | HOME | 0.92 | Not recorded | 68fa700b1e209131cea48d14 | | THOMAS | 0.94 | Not recorded | 68fa700b1e209131cea48d14 | | PRIME | 1.22 | Not recorded | 68fa700b1e209131cea48d14 | ### DeMo minADE (6 steps): 0.61. Result ID: 69cbad2547f34ce924b4d0c9. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Streaming":"true"}. This record does not assert independent reproduction. ### ModeSeq minADE (6 steps): 0.63. Result ID: 69cbad2547f34ce924b4d0c6. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Streaming":"false"}. This record does not assert independent reproduction. ### SmartRefine minADE (6 steps): 0.63. Result ID: 69cbad2547f34ce924b4d0c7. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Streaming":"false"}. This record does not assert independent reproduction. ### Tamba minADE (6 steps): 0.64. Result ID: 69cbad2547f34ce924b4d0c1. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Streaming":"false"}. This record does not assert independent reproduction. ### HAMF minADE (6 steps): 0.64. Result ID: 69cbad2547f34ce924b4d0c2. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Streaming":"false"}. This record does not assert independent reproduction. ### MixForecast minADE (6 steps): 0.64. Result ID: 69cbad2547f34ce924b4d0c8. [Reporting paper]() Recorded evaluation configuration: {"Streaming":"false"}. This record does not assert independent reproduction. ### SHARP minADE (6 steps): 0.64. Result ID: 69cbad2547f34ce924b4d0ca. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Streaming":"true"}. This record does not assert independent reproduction. ### QCNet minADE (6 steps): 0.65. Result ID: 69cbad2547f34ce924b4d0bf. [Reporting paper]() Recorded evaluation configuration: {"Streaming":"false"}. This record does not assert independent reproduction. ### RealMotion minADE (6 steps): 0.66. Result ID: 69cbad2547f34ce924b4d0c0. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Streaming":"true"}. This record does not assert independent reproduction. ### ProphNet minADE (6 steps): 0.68. Result ID: 69cbad2547f34ce924b4d0c3. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Streaming":"false"}. This record does not assert independent reproduction. ### Forecast-MAE minADE (6 steps): 0.71. Result ID: 69cbad2547f34ce924b4d0ba. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Streaming":"false"}. This record does not assert independent reproduction. ### EMP-D minADE (6 steps): 0.71. Result ID: 69cbad2547f34ce924b4d0bc. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Streaming":"false"}. This record does not assert independent reproduction. ### MTR++ minADE (6 steps): 0.71. Result ID: 69cbad2547f34ce924b4d0c4. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Streaming":"false"}. This record does not assert independent reproduction. ### DyMap minADE (6 steps): 0.71. Result ID: 69cbad2547f34ce924b4d0c5. [Reporting paper]() Recorded evaluation configuration: {"Streaming":"false"}. This record does not assert independent reproduction. ### SIMPL minADE (6 steps): 0.72. Result ID: 69cbad2547f34ce924b4d0b8. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Streaming":"false"}. This record does not assert independent reproduction. ### GANet minADE (6 steps): 0.72. Result ID: 69cbad2547f34ce924b4d0bd. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Streaming":"false"}. This record does not assert independent reproduction. ### HPTR minADE (6 steps): 0.73. Result ID: 69cbad2547f34ce924b4d0b9. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Streaming":"false"}. This record does not assert independent reproduction. ### MTR minADE (6 steps): 0.73. Result ID: 69cbad2547f34ce924b4d0bb. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Streaming":"false"}. This record does not assert independent reproduction. ### ProIn minADE (6 steps): 0.73. Result ID: 69cbad2547f34ce924b4d0be. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Streaming":"false"}. This record does not assert independent reproduction. ### R-Pred minADE (6 steps): 0.76. Result ID: 699108fd3a6c314849052dd5. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### HiVT minADE (6 steps): 0.77. Result ID: 699108fd3a6c314849052dd1. [Reporting paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### Wayformer minADE (6 steps): 0.77. Result ID: 699108fd3a6c314849052dd3. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### MultiPath++ minADE (6 steps): 0.79. Result ID: 699108fd3a6c314849052dd2. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### ITPNet baseline minADE (6 steps): 0.79. Result ID: 699108fd3a6c314849052dd4. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### SceneTransformer minADE (6 steps): 0.8. Result ID: 699108fd3a6c314849052dcd. [Reporting paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### LTP minADE (6 steps): 0.83. Result ID: 699108fd3a6c314849052dce. [Reporting paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### mmTransformer minADE (6 steps): 0.84. Result ID: 699108fd3a6c314849052dca. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### LaneGCN minADE (6 steps): 0.87. Result ID: 699108fd3a6c314849052dc9. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### TPCN minADE (6 steps): 0.87. Result ID: 699108fd3a6c314849052dd0. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### DenseTNT minADE (6 steps): 0.88. Result ID: 699108fd3a6c314849052dcb. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### HOME+GOHOME minADE (6 steps): 0.89. Result ID: 699108fd3a6c314849052dcf. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### LaneRCNN minADE (6 steps): 0.9. Result ID: 699108fd3a6c314849052dc4. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### LaPred minADE (6 steps): 0.91. Result ID: 699108fd3a6c314849052dc5. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### TNT minADE (6 steps): 0.91. Result ID: 699108fd3a6c314849052dc6. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### HOME minADE (6 steps): 0.92. Result ID: 699108fd3a6c314849052dc8. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### THOMAS minADE (6 steps): 0.94. Result ID: 699108fd3a6c314849052dcc. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### PRIME minADE (6 steps): 1.22. Result ID: 699108fd3a6c314849052dc7. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. Page 1 of 1. This is an index page, not the full collection.