Trajectory Forecasting on nuScenes (minADE5/minFDE5)
3.038Brier FDE (5s)EMP
Evaluation Results
| Method | Links | ||||
|---|---|---|---|---|---|
| EMPPost-hoc mode selection=direct training2026.06 | 3.038 | 1.156 | 2.445 | 47.5 | |
| EMPPost-hoc mode selection=merging2026.06 | 3.086 | 1.187 | 2.533 | 50.7 | |
| MTR-e2ePost-hoc mode selection=merging2026.06 | 3.432 | 1.268 | 2.848 | 53.5 | |
| MTR-e2ePost-hoc mode selection=direct training2026.06 | 3.45 | 1.268 | 2.938 | 50.8 | |
| WayformerPost-hoc mode selection=direct training2026.06 | 3.584 | 1.399 | 2.976 | 58.4 | |
| WayformerPost-hoc mode selection=merging2026.06 | 3.646 | 1.439 | 3.05 | 62.7 | |
| EMPPost-hoc mode selection=NMS2026.06 | 5.048 | 1.857 | 4.401 | 52.5 | |
| MTR-e2ePost-hoc mode selection=NMS2026.06 | 5.089 | 1.793 | 4.44 | 52.1 | |
| EMPPost-hoc mode selection=greedy2026.06 | 5.508 | 1.987 | 4.863 | 59.6 | |
| MTR-e2ePost-hoc mode selection=greedy2026.06 | 6.016 | 2.115 | 5.369 | 62.3 | |
| WayformerPost-hoc mode selection=NMS2026.06 | 7.679 | 2.871 | 7.024 | 63.7 | |
| WayformerPost-hoc mode selection=greedy2026.06 | 8.935 | 3.302 | 8.287 | 71.2 |