Motion Prediction on nuScenes
0.55ADE [m]GraphWorld
Evaluation results
| Method | Links | ||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| GraphWorld2026.06 | 0.55 | — | — | — | — | — | — | — | — | 0.86 | 0.112 | 0.512 | |
| SparseDriveLoss=Standard l1 loss, Fine-tuning=true2026.04 | 0.62 | — | — | — | — | — | — | — | — | — | — | — | |
| SparseDrive2026.06 | 0.62 | — | — | — | — | — | — | — | — | 0.99 | 0.136 | 0.482 | |
| SparseDriveLoss=EC-IoU, alpha=2, Fine-tuning=true2026.04 | 0.63 | — | — | — | — | — | — | — | — | — | — | — | |
| SparseDriveLoss=EC-IoU, alpha=4, Fine-tuning=true2026.04 | 0.63 | — | — | — | — | — | — | — | — | — | — | — | |
| VAD2026.06 | 0.68 | — | — | — | — | — | — | — | — | 0.88 | 0.083 | — | |
| UniADFine-tuning=Included for reference2026.04 | 0.71 | — | — | — | — | — | — | — | — | — | — | — | |
| UniAD2026.06 | 0.71 | — | — | — | — | — | — | — | — | 1.02 | 0.151 | 0.456 | |
| BridgeAD-BModel Size=Base2025.03 | — | 0.6 | 0.7 | 0.96 | 0.98 | 0.13 | 0.12 | 0.52 | 0.45 | — | — | — | |
| BridgeAD-SModel Size=Small2025.03 | — | 0.62 | 0.7 | 0.98 | 0.99 | 0.13 | 0.13 | 0.5 | 0.44 | — | — | — | |
| SparseDrive2025.03 | — | 0.62 | 0.72 | 0.99 | 1.07 | 0.14 | 0.14 | 0.48 | 0.41 | — | — | — | |
| UniAD2025.03 | — | 0.71 | 0.78 | 1.02 | 1.05 | 0.15 | 0.12 | 0.46 | 0.35 | — | — | — | |
| ViP3D2025.03 | — | 2.05 | — | 2.84 | — | 0.25 | — | 0.23 | — | — | — | — |