Trajectory Prediction on Argoverse 2 (val)
0.59minADE (6s)TaPD
Evaluation results
| Method | Links | |||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| TaPD2026.03 | 0.59 | — | — | — | — | — | — | — | — | 1.15 | — | — | — | — | 13 | — | — | |
| DeMo-PRFObservation Length=50, Backbone=DeMo, Prediction Strategy=PRF2026.03 | 0.596 | — | — | — | — | — | — | — | — | 1.142 | — | — | — | — | — | — | — | |
| DeMo-PRFObservation Length=30, Backbone=DeMo, Prediction Strategy=PRF2026.03 | 0.598 | — | — | — | — | — | — | — | — | 1.143 | — | — | — | — | — | — | — | |
| DeMo-PRFObservation Length=40, Backbone=DeMo, Prediction Strategy=PRF2026.03 | 0.599 | — | — | — | — | — | — | — | — | 1.145 | — | — | — | — | — | — | — | |
| DeMo-PRFObservation Length=20, Backbone=DeMo, Prediction Strategy=PRF2026.03 | 0.603 | — | — | — | — | — | — | — | — | 1.155 | — | — | — | — | — | — | — | |
| DeMo-CLLSObservation Length=40, Backbone=DeMo, Prediction Strategy=CLLS2026.03 | 0.614 | — | — | — | — | — | — | — | — | 1.225 | — | — | — | — | — | — | — | |
| DeMo-CLLSObservation Length=50, Backbone=DeMo, Prediction Strategy=CLLS2026.03 | 0.615 | — | — | — | — | — | — | — | — | 1.223 | — | — | — | — | — | — | — | |
| DeMo-LaKDObservation Length=40, Backbone=DeMo, Prediction Strategy=LaKD2026.03 | 0.617 | — | — | — | — | — | — | — | — | 1.236 | — | — | — | — | — | — | — | |
| DeMo-LaKDObservation Length=50, Backbone=DeMo, Prediction Strategy=LaKD2026.03 | 0.617 | — | — | — | — | — | — | — | — | 1.232 | — | — | — | — | — | — | — | |
| DeMo-PRFObservation Length=10, Backbone=DeMo, Prediction Strategy=PRF2026.03 | 0.617 | — | — | — | — | — | — | — | — | 1.183 | — | — | — | — | — | — | — | |
| DeMo-LaKDObservation Length=30, Backbone=DeMo, Prediction Strategy=LaKD2026.03 | 0.62 | — | — | — | — | — | — | — | — | 1.243 | — | — | — | — | — | — | — | |
| DeMo-FLNObservation Length=50, Backbone=DeMo, Prediction Strategy=FLN2026.03 | 0.621 | — | — | — | — | — | — | — | — | 1.231 | — | — | — | — | — | — | — | |
| DeMo-CLLSObservation Length=30, Backbone=DeMo, Prediction Strategy=CLLS2026.03 | 0.623 | — | — | — | — | — | — | — | — | 1.234 | — | — | — | — | — | — | — | |
| DeMo-LaKDObservation Length=20, Backbone=DeMo, Prediction Strategy=LaKD2026.03 | 0.627 | — | — | — | — | — | — | — | — | 1.251 | — | — | — | — | — | — | — | |
| DeMo-FLNObservation Length=40, Backbone=DeMo, Prediction Strategy=FLN2026.03 | 0.628 | — | — | — | — | — | — | — | — | 1.238 | — | — | — | — | — | — | — | |
| Polaris2026.03 | 0.63 | — | — | — | — | — | — | — | — | 1.21 | — | — | — | — | 14 | — | — | |
| DeMo-CLLSObservation Length=20, Backbone=DeMo, Prediction Strategy=CLLS2026.03 | 0.63 | — | — | — | — | — | — | — | — | 1.249 | — | — | — | — | — | — | — | |
| DeMo-FLNObservation Length=30, Backbone=DeMo, Prediction Strategy=FLN2026.03 | 0.637 | — | — | — | — | — | — | — | — | 1.254 | — | — | — | — | — | — | — | |
| DeMo-LaKDObservation Length=10, Backbone=DeMo, Prediction Strategy=LaKD2026.03 | 0.639 | — | — | — | — | — | — | — | — | 1.262 | — | — | — | — | — | — | — | |
| DeMo-CLLSObservation Length=10, Backbone=DeMo, Prediction Strategy=CLLS2026.03 | 0.641 | — | — | — | — | — | — | — | — | 1.258 | — | — | — | — | — | — | — | |
| DeMo-FLNObservation Length=20, Backbone=DeMo, Prediction Strategy=FLN2026.03 | 0.644 | — | — | — | — | — | — | — | — | 1.258 | — | — | — | — | — | — | — | |
| DeMo-DTOObservation Length=50, Backbone=DeMo, Prediction Strategy=DTO2026.03 | 0.645 | — | — | — | — | — | — | — | — | 1.265 | — | — | — | — | — | — | — | |
| DeMo-DTOObservation Length=40, Backbone=DeMo, Prediction Strategy=DTO2026.03 | 0.647 | — | — | — | — | — | — | — | — | 1.268 | — | — | — | — | — | — | — | |
| DeMo-DTOObservation Length=30, Backbone=DeMo, Prediction Strategy=DTO2026.03 | 0.65 | — | — | — | — | — | — | — | — | 1.279 | — | — | — | — | — | — | — | |
| DeMo-FLNObservation Length=10, Backbone=DeMo, Prediction Strategy=FLN2026.03 | 0.651 | — | — | — | — | — | — | — | — | 1.262 | — | — | — | — | — | — | — | |
| DeMo-OriObservation Length=50, Backbone=DeMo, Prediction Strategy=Ori2026.03 | 0.658 | — | — | — | — | — | — | — | — | 1.278 | — | — | — | — | — | — | — | |
| DeMo-ITObservation Length=50, Backbone=DeMo, Prediction Strategy=IT2026.03 | 0.658 | — | — | — | — | — | — | — | — | 1.278 | — | — | — | — | — | — | — | |
| DeMo-DTOObservation Length=20, Backbone=DeMo, Prediction Strategy=DTO2026.03 | 0.658 | — | — | — | — | — | — | — | — | 1.291 | — | — | — | — | — | — | — | |
| DeMo-ITObservation Length=40, Backbone=DeMo, Prediction Strategy=IT2026.03 | 0.659 | — | — | — | — | — | — | — | — | 1.287 | — | — | — | — | — | — | — | |
| Realmotion2026.03 | 0.66 | — | — | — | — | — | — | — | — | 1.31 | — | — | — | — | 15 | — | — | |
| DeMo-ITObservation Length=30, Backbone=DeMo, Prediction Strategy=IT2026.03 | 0.66 | — | — | — | — | — | — | — | — | 1.293 | — | — | — | — | — | — | — | |
| DeMo-ITObservation Length=20, Backbone=DeMo, Prediction Strategy=IT2026.03 | 0.661 | — | — | — | — | — | — | — | — | 1.296 | — | — | — | — | — | — | — | |
| DeMo-OriObservation Length=40, Backbone=DeMo, Prediction Strategy=Ori2026.03 | 0.662 | — | — | — | — | — | — | — | — | 1.288 | — | — | — | — | — | — | — | |
| DeMo2026.03 | 0.67 | — | — | — | — | — | — | — | — | 1.27 | — | — | — | — | 15 | — | — | |
| DeMo-OriObservation Length=30, Backbone=DeMo, Prediction Strategy=Ori2026.03 | 0.671 | — | — | — | — | — | — | — | — | 1.306 | — | — | — | — | — | — | — | |
| DeMo-DTOObservation Length=10, Backbone=DeMo, Prediction Strategy=DTO2026.03 | 0.672 | — | — | — | — | — | — | — | — | 1.307 | — | — | — | — | — | — | — | |
| DeMo-ITObservation Length=10, Backbone=DeMo, Prediction Strategy=IT2026.03 | 0.675 | — | — | — | — | — | — | — | — | 1.318 | — | — | — | — | — | — | — | |
| CG-Net2026.03 | 0.7 | — | — | — | — | — | — | — | — | 1.18 | — | — | — | — | 14 | — | — | |
| LITNT2026.03 | 0.7 | — | — | — | — | — | — | — | — | 1.15 | — | — | — | — | 15 | — | — | |
| DeMo-OriObservation Length=20, Backbone=DeMo, Prediction Strategy=Ori2026.03 | 0.7 | — | — | — | — | — | — | — | — | 1.358 | — | — | — | — | — | — | — | |
| QCNet-PRFObservation Length=40, Backbone=QCNet, Prediction Strategy=PRF2026.03 | 0.702 | — | — | — | — | — | — | — | — | 1.164 | — | — | — | — | — | — | — | |
| QCNet-PRFObservation Length=50, Backbone=QCNet, Prediction Strategy=PRF2026.03 | 0.702 | — | — | — | — | — | — | — | — | 1.166 | — | — | — | — | — | — | — | |
| QCNet-PRFObservation Length=30, Backbone=QCNet, Prediction Strategy=PRF2026.03 | 0.706 | — | — | — | — | — | — | — | — | 1.169 | — | — | — | — | — | — | — | |
| SeNeVA2026.03 | 0.71 | — | — | — | — | — | — | — | — | 1.32 | — | — | — | — | 17 | — | — | |
| FutureNet-LoF2026.03 | 0.71 | — | — | — | — | — | — | — | — | 1.19 | — | — | — | — | 14 | — | — | |
| QCNet-PRFObservation Length=20, Backbone=QCNet, Prediction Strategy=PRF2026.03 | 0.711 | — | — | — | — | — | — | — | — | 1.181 | — | — | — | — | — | — | — | |
| QCNet-CLLSObservation Length=50, Backbone=QCNet, Prediction Strategy=CLLS2026.03 | 0.714 | — | — | — | — | — | — | — | — | 1.215 | — | — | — | — | — | — | — | |
| QCNet-LaKDObservation Length=50, Backbone=QCNet, Prediction Strategy=LaKD2026.03 | 0.718 | — | — | — | — | — | — | — | — | 1.219 | — | — | — | — | — | — | — | |
| QCNet-CLLSObservation Length=40, Backbone=QCNet, Prediction Strategy=CLLS2026.03 | 0.719 | — | — | — | — | — | — | — | — | 1.222 | — | — | — | — | — | — | — | |
| LANet2026.03 | 0.72 | — | — | — | — | — | — | — | — | 1.26 | — | — | — | — | 16 | — | — | |
| QCNet-LaKDObservation Length=40, Backbone=QCNet, Prediction Strategy=LaKD2026.03 | 0.721 | — | — | — | — | — | — | — | — | 1.227 | — | — | — | — | — | — | — | |
| QCNet-FLNObservation Length=50, Backbone=QCNet, Prediction Strategy=FLN2026.03 | 0.724 | — | — | — | — | — | — | — | — | 1.231 | — | — | — | — | — | — | — | |
| QCNet-OriObservation Length=40, Backbone=QCNet, Prediction Strategy=Ori2026.03 | 0.725 | — | — | — | — | — | — | — | — | 1.252 | — | — | — | — | — | — | — | |
| QCNet-LaKDObservation Length=20, Backbone=QCNet, Prediction Strategy=LaKD2026.03 | 0.725 | — | — | — | — | — | — | — | — | 1.235 | — | — | — | — | — | — | — | |
| QCNet-LaKDObservation Length=30, Backbone=QCNet, Prediction Strategy=LaKD2026.03 | 0.725 | — | — | — | — | — | — | — | — | 1.232 | — | — | — | — | — | — | — | |
| QCNet-CLLSObservation Length=30, Backbone=QCNet, Prediction Strategy=CLLS2026.03 | 0.725 | — | — | — | — | — | — | — | — | 1.227 | — | — | — | — | — | — | — | |
| QCNet-OriObservation Length=50, Backbone=QCNet, Prediction Strategy=Ori2026.03 | 0.726 | — | — | — | — | — | — | — | — | 1.253 | — | — | — | — | — | — | — | |
| QCNet-ITObservation Length=40, Backbone=QCNet, Prediction Strategy=IT2026.03 | 0.726 | — | — | — | — | — | — | — | — | 1.267 | — | — | — | — | — | — | — | |
| QCNet-ITObservation Length=50, Backbone=QCNet, Prediction Strategy=IT2026.03 | 0.726 | — | — | — | — | — | — | — | — | 1.253 | — | — | — | — | — | — | — | |
| QCNet-CLLSObservation Length=20, Backbone=QCNet, Prediction Strategy=CLLS2026.03 | 0.727 | — | — | — | — | — | — | — | — | 1.232 | — | — | — | — | — | — | — | |
| QCNet-PRFObservation Length=10, Backbone=QCNet, Prediction Strategy=PRF2026.03 | 0.727 | — | — | — | — | — | — | — | — | 1.213 | — | — | — | — | — | — | — | |
| QCNet-FLNObservation Length=40, Backbone=QCNet, Prediction Strategy=FLN2026.03 | 0.729 | — | — | — | — | — | — | — | — | 1.231 | — | — | — | — | — | — | — | |
| QCNet2026.03 | 0.73 | — | — | — | — | — | — | — | — | 1.27 | — | — | — | — | 16 | — | — | |
| QCNet-ITObservation Length=30, Backbone=QCNet, Prediction Strategy=IT2026.03 | 0.73 | — | — | — | — | — | — | — | — | 1.276 | — | — | — | — | — | — | — | |
| QCNet-DTOObservation Length=50, Backbone=QCNet, Prediction Strategy=DTO2026.03 | 0.731 | — | — | — | — | — | — | — | — | 1.258 | — | — | — | — | — | — | — | |
| QCNet-FLNObservation Length=30, Backbone=QCNet, Prediction Strategy=FLN2026.03 | 0.731 | — | — | — | — | — | — | — | — | 1.243 | — | — | — | — | — | — | — | |
| QCNet-DTOObservation Length=40, Backbone=QCNet, Prediction Strategy=DTO2026.03 | 0.732 | — | — | — | — | — | — | — | — | 1.261 | — | — | — | — | — | — | — | |
| QCNet-ITObservation Length=20, Backbone=QCNet, Prediction Strategy=IT2026.03 | 0.734 | — | — | — | — | — | — | — | — | 1.279 | — | — | — | — | — | — | — | |
| QCNet-DTOObservation Length=30, Backbone=QCNet, Prediction Strategy=DTO2026.03 | 0.735 | — | — | — | — | — | — | — | — | 1.269 | — | — | — | — | — | — | — | |
| QCNet-FLNObservation Length=20, Backbone=QCNet, Prediction Strategy=FLN2026.03 | 0.735 | — | — | — | — | — | — | — | — | 1.253 | — | — | — | — | — | — | — | |
| QCNet-CLLSObservation Length=10, Backbone=QCNet, Prediction Strategy=CLLS2026.03 | 0.735 | — | — | — | — | — | — | — | — | 1.247 | — | — | — | — | — | — | — | |
| QCNet-DTOObservation Length=20, Backbone=QCNet, Prediction Strategy=DTO2026.03 | 0.739 | — | — | — | — | — | — | — | — | 1.27 | — | — | — | — | — | — | — | |
| QCNet-LaKDObservation Length=10, Backbone=QCNet, Prediction Strategy=LaKD2026.03 | 0.739 | — | — | — | — | — | — | — | — | 1.259 | — | — | — | — | — | — | — | |
| QCNet-ITObservation Length=10, Backbone=QCNet, Prediction Strategy=IT2026.03 | 0.741 | — | — | — | — | — | — | — | — | 1.293 | — | — | — | — | — | — | — | |
| QCNet-OriObservation Length=30, Backbone=QCNet, Prediction Strategy=Ori2026.03 | 0.752 | — | — | — | — | — | — | — | — | 1.296 | — | — | — | — | — | — | — | |
| QCNet-FLNObservation Length=10, Backbone=QCNet, Prediction Strategy=FLN2026.03 | 0.752 | — | — | — | — | — | — | — | — | 1.274 | — | — | — | — | — | — | — | |
| QCNet-DTOObservation Length=10, Backbone=QCNet, Prediction Strategy=DTO2026.03 | 0.768 | — | — | — | — | — | — | — | — | 1.315 | — | — | — | — | — | — | — | |
| QCNet-OriObservation Length=20, Backbone=QCNet, Prediction Strategy=Ori2026.03 | 0.777 | — | — | — | — | — | — | — | — | 1.338 | — | — | — | — | — | — | — | |
| SIMPL2026.03 | 0.78 | — | — | — | — | — | — | — | — | 1.45 | — | — | — | — | — | — | — | |
| forecast-mae2026.03 | 0.8 | — | — | — | — | — | — | — | — | 1.41 | — | — | — | — | 18 | — | — | |
| DeMo-OriObservation Length=10, Backbone=DeMo, Prediction Strategy=Ori2026.03 | 0.861 | — | — | — | — | — | — | — | — | 1.533 | — | — | — | — | — | — | — | |
| HPTRvariant=plain2025.05 | 0.88 | — | — | — | — | — | — | 5.6 | — | 1.71 | 1.48 | 2.32 | 2.24 | 26 | — | — | — | |
| QCNet-OriObservation Length=10, Backbone=QCNet, Prediction Strategy=Ori2026.03 | 0.9 | — | — | — | — | — | — | — | — | 1.526 | — | — | — | — | — | — | — | |
| HPTRbdvariant=boundary-guided2025.05 | 0.95 | — | — | — | — | — | — | 5.51 | — | 1.82 | 1.6 | 2.47 | 2.27 | 30 | — | — | — | |
| LGT2026.03 | 1.02 | — | — | — | — | — | — | — | — | 1.93 | — | — | — | — | 30 | — | — | |
| HPTRkinvariant=kinematic2025.05 | 1.1 | — | — | — | — | — | — | 6.12 | — | 2.01 | 1.71 | 2.62 | 2.5 | 31 | — | — | — | |
| Argoverse 2 (Full)Evaluation Model=QCNet, Retention Ratio (%)=1002024.09 | — | — | 1.258 | 16.2 | 0.724 | — | — | — | — | — | — | — | — | — | — | — | — | |
| Argoverse 2 (Full)Evaluation Model=DeMo, Retention Ratio (%)=1002024.09 | — | — | 1.254 | 16.3 | 0.657 | — | — | — | — | — | — | — | — | — | — | — | — | |
| AutobotInput=HD Map (±50m range)2025.09 | — | — | — | 21.36 | — | 1.3284 | 0.743 | 6.9975 | 1.6861 | — | — | — | — | — | — | — | — | |
| BEVTrajInput=Raw sensor data (No HD Map)2025.09 | — | — | — | 21.44 | — | 1.0412 | 0.6525 | 6.6665 | 1.6434 | — | — | — | — | — | — | — | — | |
| ClusterEvaluation Model=QCNet, Retention Ratio (%)=602024.09 | — | — | 1.406 | 19.2 | 0.773 | — | — | — | — | — | — | — | — | — | — | — | — | |
| ClusterEvaluation Model=DeMo, Retention Ratio (%)=602024.09 | — | — | 1.386 | 18.7 | 0.693 | — | — | — | — | — | — | — | — | — | — | — | — | |
| ClusterEvaluation Model=QCNet, Retention Ratio (%)=502024.09 | — | — | 1.435 | 19.3 | 0.798 | — | — | — | — | — | — | — | — | — | — | — | — | |
| ClusterEvaluation Model=DeMo, Retention Ratio (%)=502024.09 | — | — | 1.437 | 19.1 | 0.732 | — | — | — | — | — | — | — | — | — | — | — | — | |
| ClusterEvaluation Model=QCNet, Retention Ratio (%)=402024.09 | — | — | 1.495 | 21.4 | 0.813 | — | — | — | — | — | — | — | — | — | — | — | — | |
| ClusterEvaluation Model=DeMo, Retention Ratio (%)=402024.09 | — | — | 1.456 | 19.5 | 0.732 | — | — | — | — | — | — | — | — | — | — | — | — | |
| CogDrive2025.12 | — | 1.833 | 1.209 | 12 | 0.803 | — | — | — | — | — | — | — | — | — | — | — | — | |
| DeMoInput=HD Map (±50m range)2025.09 | — | — | — | 19.76 | — | 0.8528 | 0.6426 | 5.2801 | 1.4964 | — | — | — | — | — | — | — | — | |
| DeMo-CLLSObservation Length=Average, Backbone=DeMo, Prediction Strategy=CLLS2026.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.012 | 0.019 | |
| DeMo-DTOObservation Length=Average, Backbone=DeMo, Prediction Strategy=DTO2026.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.012 | 0.021 |