Motion Prediction on Waymo Dataset
0.025Mean Error (Static)Oracle (MotionNet)
Evaluation results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| Oracle (MotionNet)Supervision Real=true, Supervision Synthetic=false2026.07 | 0.025 | 0.261 | 0.994 | 0 | 0.085 | 0.539 | |
| MotionNetSupervision=Full.2024.03 | 0.0263 | 0.262 | 0.9493 | — | — | — | |
| WeakMotionSupervision=Weak.2024.03 | 0.0297 | 0.3458 | 1.5655 | — | — | — | |
| WeakMotionNetSupervision Real=true, Supervision Synthetic=false2026.07 | 0.033 | 0.346 | 1.566 | — | — | — | |
| OAMNet†Supervision Real=false, Supervision Synthetic=true, Training Paradigm=Labeled Synthetic2026.07 | 0.048 | 0.502 | 2.383 | 0 | 0.314 | 0.935 | |
| OAMNet§+OAMESupervision Real=false, Supervision Synthetic=true, Training Paradigm=Mean Teacher, Components=OAMNet + OAME2026.07 | 0.048 | 0.385 | 1.545 | 0 | 0.099 | 0.791 | |
| OAMNet§Supervision Real=false, Supervision Synthetic=true, Training Paradigm=Mean Teacher2026.07 | 0.049 | 0.418 | 2.01 | 0 | 0.099 | 1.192 | |
| SelfMotionSupervision=Self.2024.03 | 0.0515 | 0.444 | 2.3692 | — | — | — | |
| SelfMotionSupervision Real=false, Supervision Synthetic=false2026.07 | 0.052 | 0.444 | 2.369 | — | — | — | |
| GUSupervision Real=false, Supervision Synthetic=true2026.07 | 0.068 | 0.372 | 2.388 | 0 | 0.105 | 0.976 | |
| MotionNet†Supervision Real=false, Supervision Synthetic=true, Training Paradigm=Labeled Synthetic2026.07 | 0.081 | 0.486 | 2.398 | 0 | 0.277 | 0.929 | |
| GRLSupervision Real=false, Supervision Synthetic=true2026.07 | 0.105 | 0.396 | 2.135 | 0 | 0.107 | 1.304 | |
| MotionNet§Supervision Real=false, Supervision Synthetic=true, Training Paradigm=Mean Teacher2026.07 | 0.122 | 0.379 | 2.702 | 0 | 0.111 | 1.586 | |
| WeakMotionSupervision=Self.2024.03 | 0.1345 | 0.5833 | 3.018 | — | — | — |