ResearchBenchmarksOpen-loop Trajectory Prediction on DE driving data (held-out)Open-loop Trajectory Prediction on DE driving data (held-out)Follow4.169ADEADE4.091084.617045.1435.66896Jul 6, 2026Evaluation resultsMethodMethodLinksADEADEModel=ADEModel=ADE2026.074.169ADE-SwapModel=ADE-SwapModel=ADE-Swap2026.074.196VLM-JudgeModel=VLM-JudgeModel=VLM-Judge2026.074.282PinocchioModel=OursModel=Ours2026.074.324ADE-ReasonModel=ADE-ReasonModel=ADE-Reason2026.075.546SFTModel=SFTModel=SFT2026.076.117