Single Agent Motion Forecasting on Argoverse 2 (test)
1.81b-mFDE (6s)DeMo-PRF (Our)
Evaluation results
| Method | Links | ||||||||
|---|---|---|---|---|---|---|---|---|---|
| DeMo-PRF (Our)Model Type=Single model, Ensembling=None2026.03 | 1.81 | 0.6 | 1.14 | 13 | 1.49 | 3.72 | — | — | |
| DeMo+ReMoModel Type=Single model, Ensembling=None2026.03 | 1.84 | 0.61 | 1.17 | 13 | 1.49 | 3.74 | — | — | |
| SmartRefineModel Type=Single model, Ensembling=None2026.03 | 1.86 | 0.63 | 1.23 | 15 | 1.65 | 4.17 | — | — | |
| ModeSeqEnsemble=false2026.05 | 1.87 | — | — | 14 | — | — | 0.63 | 1.26 | |
| ProphNetModel Type=Single model, Ensembling=None2026.03 | 1.88 | 0.68 | 1.33 | 18 | 1.8 | 4.74 | — | — | |
| MTR++Ensemble=true2026.05 | 1.88 | — | — | 14 | — | — | 0.71 | 1.37 | |
| ReMoModel Type=Single model, Ensembling=None2026.03 | 1.89 | 0.66 | 1.24 | 15 | 1.59 | 3.93 | — | — | |
| TambaModel Type=Single model, Ensembling=None2026.03 | 1.89 | 0.64 | 1.24 | 17 | 1.66 | 4.24 | — | — | |
| QCNetModel Type=Single model, Ensembling=None2026.03 | 1.91 | 0.65 | 1.29 | 16 | 1.69 | 4.3 | — | — | |
| QCNetEnsemble=false2026.05 | 1.91 | — | — | 16 | — | — | 0.65 | 1.29 | |
| DeMoModel Type=Single model, Ensembling=None2026.03 | 1.92 | 0.65 | 1.25 | 15 | 1.58 | 3.96 | — | — | |
| GANetModel Type=Single model, Ensembling=None2026.03 | 1.96 | 0.72 | 1.34 | 17 | 1.77 | 4.48 | — | — | |
| MTRModel Type=Single model, Ensembling=None2026.03 | 1.98 | 0.73 | 1.44 | 15 | 1.74 | 4.39 | — | — | |
| MTREnsemble=true2026.05 | 1.98 | — | — | 15 | — | — | 0.73 | 1.44 | |
| GoRelaModel Type=Single model, Ensembling=None2026.03 | 2.01 | 0.76 | 1.48 | 22 | 1.82 | 4.62 | — | — | |
| HPTRModel Type=Single model, Ensembling=None2026.03 | 2.03 | 0.73 | 1.43 | 19 | 1.84 | 4.61 | — | — | |
| SIMPLModel Type=Single model, Ensembling=None2026.03 | 2.05 | 0.72 | 1.43 | 19 | 2.03 | 5.5 | — | — | |
| THOMASModel Type=Single model, Ensembling=None2026.03 | 2.16 | 0.88 | 1.51 | 20 | 1.95 | 4.71 | — | — | |
| HDGTModel Type=Single model, Ensembling=None2026.03 | 2.24 | 0.84 | 1.6 | 21 | 2.08 | 5.37 | — | — | |
| FRMModel Type=Single model, Ensembling=None2026.03 | 2.47 | 0.89 | 1.81 | 29 | 2.37 | 5.93 | — | — |