ResearchBenchmarksOpen-Loop Vehicle State Prediction on ETHZMobil simulated S_test_D (test)Open-Loop Vehicle State Prediction on ETHZMobil simulated S_test_D (test)Follow1.19RMSE (vx)LE-PAVD0.88882.92194.9556.9881May 8, 2026Evaluation resultsMethodMethodLinksRMSE (vx)Max Error (vx)RMSE (vy)Max Error (vy)RMSE (Yaw Rate)Max Error (Yaw Rate)ADEFDELE-PAVDTotal Parameters=0.917...Total Parameters=0.917M, FLOPs (M)=1.82, Avg. Inference Time (s)=0.00072026.051.196.975.435.511.671.931.984.08DDMTotal Parameters=2.878...Total Parameters=2.878M, FLOPs (M)=5.74, Avg. Inference Time (s)=0.00102026.058.722.234.021.223.994.53.771.15