Trajectory Prediction on Argoverse (val) (Robustness Metrics)
0.66ADE (original)HiVT
Evaluation Results
| Method | Links | ||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|
| HiVTSurrogate model=TNT, Status=Backdoor-injected2023.06 | 0.66 | 0.82 | 3.54 | 94.86 | 91 | 0.96 | 1.1 | 5.36 | 96.02 | 92.66 | |
| HiVTSurrogate model=MMTransformer, Status=Backdoor-injected2023.06 | 0.66 | 0.75 | 3.67 | 95.3 | 91.11 | 0.96 | 1.04 | 5.21 | 96.88 | 93.12 | |
| HiVTSurrogate model=LaneGCN, Status=Backdoor-injected2023.06 | 0.66 | 0.88 | 3.43 | 94.06 | 90.88 | 0.96 | 1.21 | 5.48 | 95.39 | 92.89 | |
| MMTransformerSurrogate model=HiVT, Status=Backdoor-injected2023.06 | 0.7 | 1.39 | 3.16 | 84.21 | 78.55 | 1.08 | 2.31 | 4.4 | 85.67 | 83.44 | |
| MMTransformerSurrogate model=TNT, Status=Backdoor-injected2023.06 | 0.7 | 1.56 | 2.91 | 80.37 | 77.89 | 1.08 | 2.61 | 4.06 | 83.01 | 80.71 | |
| MMTransformerSurrogate model=LaneGCN, Status=Backdoor-injected2023.06 | 0.7 | 1.49 | 3.05 | 82.4 | 79.99 | 1.08 | 2.48 | 4.14 | 85.06 | 80.31 | |
| LaneGCNSurrogate model=HiVT, Status=Backdoor-injected2023.06 | 0.71 | 1.09 | 3.02 | 87 | 83.65 | 1.08 | 1.78 | 3.46 | 88.92 | 84.19 | |
| LaneGCNSurrogate model=TNT, Status=Backdoor-injected2023.06 | 0.71 | 1.12 | 2.92 | 86.46 | 89.24 | 1.08 | 1.88 | 3.48 | 89.65 | 86.99 | |
| LaneGCNSurrogate model=MMTransformer, Status=Backdoor-injected2023.06 | 0.71 | 1.01 | 3.48 | 88.02 | 88.23 | 1.08 | 1.59 | 3.61 | 89.79 | 86.36 | |
| TNTSurrogate model=HiVT, Status=Backdoor-injected2023.06 | 0.95 | 2.09 | 2.83 | 73.16 | 88.22 | 1.73 | 3.02 | 4.36 | 75.72 | 86.79 | |
| TNTSurrogate model=MMTransformer, Status=Backdoor-injected2023.06 | 0.95 | 1.14 | 3.61 | 92.01 | 90.74 | 1.73 | 2.13 | 5.35 | 94.73 | 89.96 | |
| TNTSurrogate model=LaneGCN, Status=Backdoor-injected2023.06 | 0.95 | 1.32 | 2.76 | 89.46 | 87.39 | 1.73 | 2.28 | 4.1 | 90.33 | 85.29 |