Trajectory Forecasting on Waymo Open Motion Dataset (WOMD) v1.2 (val)
3.93Brier Score (FDE@5)MTR-e2e
Evaluation Results
| Method | Links | ||||
|---|---|---|---|---|---|
| MTR-e2ePost-hoc selection=direct training2026.06 | 3.93 | 1.477 | 3.387 | 55.6 | |
| EMPPost-hoc selection=direct training2026.06 | 4.057 | 1.482 | 3.46 | 57.7 | |
| MTR-e2ePost-hoc selection=merging2026.06 | 4.11 | 1.53 | 3.546 | 60.2 | |
| WayformerPost-hoc selection=direct training2026.06 | 4.288 | 1.562 | 3.71 | 62.4 | |
| EMPPost-hoc selection=merging2026.06 | 4.442 | 1.677 | 3.855 | 65.8 | |
| WayformerPost-hoc selection=merging2026.06 | 5.529 | 2.025 | 4.968 | 75.7 | |
| MTR-e2ePost-hoc selection=NMS2026.06 | 6.498 | 2.273 | 5.858 | 59.1 | |
| MTR-e2ePost-hoc selection=greedy2026.06 | 6.982 | 2.421 | 6.335 | 63.4 | |
| EMPPost-hoc selection=NMS2026.06 | 7.3 | 2.562 | 6.66 | 63.1 | |
| EMPPost-hoc selection=greedy2026.06 | 9.906 | 2.887 | 9.26 | 66.5 | |
| WayformerPost-hoc selection=NMS2026.06 | 11.423 | 4.08 | 10.775 | 68.4 | |
| WayformerPost-hoc selection=greedy2026.06 | 11.645 | 4.143 | 10.994 | 69.5 |