ResearchBenchmarksTraffic Prediction on PEMS-BAY (5, 15, 30 min horizons)Follow1.08MAE (5 min Horizon)pFedCTP1.01761.43881.862.2812Jun 9, 2026Evaluation ResultsMethodMethodLinksMAE (5 min Horizon)MAE (15 min Horizon)MAE (30 min Horizon)RMSE (5 min Horizon)RMSE (15 min Horizon)RMSE (30 min Horizon)pFedCTP2026.061.081.62.21.833.214.58ST-GFSL2026.061.161.642.171.983.264.64MoE-FedST2026.061.21.5722.13.24.45STGCN2026.062.642.773.014.034.445.13