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ResearchFormerly WizWand

Trajectory Prediction on ETH UCY Average

0.17ADEUPDD
0.1440.31950.4950.6705Feb 11, 2019Apr 28, 2020Jul 15, 2021Oct 1, 2022Dec 17, 2023Mar 4, 2025May 21, 2026
Updated 5mo ago

Evaluation results

MethodLinks
UPDDevaluation_protocol=best-of-202026.050.170.32——
Resonanceevaluation_protocol=best-of-202026.050.170.28——
Reverberationevaluation_protocol=best-of-202026.050.170.28——
Encoreevaluation_protocol=best-of-202026.050.170.28——
CODAK (samples)=20, Evaluation Protocol=Marginal2026.050.170.28——
Trajectron++Sampling=BOsampler, Strategy=Best-of-202023.040.180.36——
Trajectron++Sampling=BOsampler + QMC, Strategy=Best-of-202023.040.180.36——
TrajCLIPIn/Out (s)=3.2/4.8, uses_external_data=true2026.030.180.33——
Ours (wide)In/Out (s)=3.2/4.82026.030.180.32——
E-V2-Netevaluation_protocol=best-of-202026.050.180.3——
AgentFormerevaluation_protocol=best-of-202026.050.180.29——
SocialCircleevaluation_protocol=best-of-202026.050.180.29——
SocialCircle+evaluation_protocol=best-of-202026.050.180.29——
Y-netevaluation_protocol=best-of-202026.050.180.27——
NMRFIn/Out (s)=3.2/4.82026.030.190.32——
T2PIn/Out (s)=3.2/4.8, adapted_for_task=true2026.030.190.39——
Ours (deep)In/Out (s)=3.2/4.82026.030.190.32——
MSRLevaluation_protocol=best-of-202026.050.190.33——
NRMFK (samples)=20, Evaluation Protocol=Marginal2026.050.190.32——
LG-Trajevaluation_protocol=best-of-202026.050.20.34——
PPTevaluation_protocol=best-of-202026.050.20.31——
MoFlowK (samples)=20, Evaluation Protocol=Marginal2026.050.20.32——
NPSN-SGCNsampling_strategy=NPSN2022.030.210.36——
Trajectron++Sampling=MC, Strategy=Best-of-202023.040.210.41——
Trajectron++Sampling=QMC, Strategy=Best-of-202023.040.210.4——
MIDIn/Out (s)=3.2/4.82026.030.210.38——
TUTRIn/Out (s)=3.2/4.82026.030.210.36——
NPSN-NCE-Trajectron++sampling_strategy=NPSN2022.030.220.37——
SingularTraj.In/Out (s)=3.2/4.82026.030.220.34——
MS-TIPevaluation_protocol=best-of-202026.050.220.36——
SMEMOevaluation_protocol=best-of-202026.050.220.35——
MemoNetK (samples)=20, Evaluation Protocol=Marginal2026.050.220.36——
GP-GraphIn/Out (s)=3.2/4.82026.030.230.39——
AgentFormerK (samples)=20, Evaluation Protocol=Marginal2026.050.230.39——
Trajectron++ (updated version)Sampling=BOsampler, Strategy=Best-of-202023.040.250.45——
Trajectron++ (updated version)Sampling=BOsampler + QMC, Strategy=Best-of-202023.040.250.45——
Joint AgentFormerK (samples)=20, Evaluation Protocol=Marginal2026.050.250.41——
NPSN-Trajectron++sampling_strategy=NPSN2022.030.260.42——
Y-NetK (samples)=20, Evaluation Protocol=Marginal2026.050.260.45——
View VerticallyK (samples)=20, Evaluation Protocol=Marginal2026.050.270.4——
NCE-Trajectron++2022.030.280.51——
NPSN-STGCNNsampling_strategy=NPSN2022.030.280.45——
NPSN-PECNetsampling_strategy=NPSN2022.030.280.44——
Trajectron++ (updated version)Sampling=MC, Strategy=Best-of-202023.040.280.54——
Trajectron++ (updated version)Sampling=QMC, Strategy=Best-of-202023.040.280.54——
Joint View VerticallyK (samples)=20, Evaluation Protocol=Marginal2026.050.290.41——
PECNetSampling=BOsampler, Strategy=Best-of-202023.040.30.51——
PECNetSampling=BOsampler + QMC, Strategy=Best-of-202023.040.30.5——
PECNetK (samples)=20, Evaluation Protocol=Marginal2026.050.30.55——
Trajectron++2022.030.310.52——
PECNetSampling=QMC, Strategy=Best-of-202023.040.310.54——
PECNet2022.030.320.56——
PECNetSampling=MC, Strategy=Best-of-202023.040.320.56——
Trajectron++K (samples)=20, Evaluation Protocol=Marginal2026.050.320.55——
SGCN2022.030.350.63——
Social-STGCNNSampling=BOsampler + QMC, Strategy=Best-of-202023.040.370.62——
NPSN-Causal-STGATsampling_strategy=NPSN2022.030.380.72——
Social-STGCNNSampling=QMC, Strategy=Best-of-202023.040.390.65——
Causal-STGAT2022.030.40.77——
Social-STGCNNSampling=BOsampler, Strategy=Best-of-202023.040.410.69——
NPSN-STGATsampling_strategy=NPSN2022.030.420.8——
STGAT2022.030.430.83——
Social-STGCNN2022.030.440.75——
STGATSampling=BOsampler, Strategy=Best-of-202023.040.440.85——
STGATSampling=BOsampler + QMC, Strategy=Best-of-202023.040.440.84——
Social-STGCNNSampling=MC, Strategy=Best-of-202023.040.450.75——
STGATSampling=QMC, Strategy=Best-of-202023.040.450.89——
NextNumber of output samples=202019.020.461——
STGATSampling=MC, Strategy=Best-of-202023.040.460.9——
CGNSContext features=Deactivated2019.050.490.97——
NPSN-SGANsampling_strategy=NPSN2022.030.50.96——
NextNumber of output samples=12019.020.521.14——
Social-GANSampling=BOsampler, Strategy=Best-of-202023.040.521.01——
Social-GANSampling=BOsampler + QMC, Strategy=Best-of-202023.040.521——
Social-GANSampling=MC, Strategy=Best-of-202023.040.531.05——
Social-GANSampling=QMC, Strategy=Best-of-202023.040.531.03——
S-GANK (samples)=20, Evaluation Protocol=Marginal2026.050.531.07——
SoPhieNumber of output samples=202019.020.541.15——
SoPhie2019.050.541.15——
Social GAN (V)Number of output samples=202019.020.581.18——
S-GAN2019.050.581.18——
Social GAN (PV)Number of output samples=202019.020.611.21——
S-GAN-P2019.050.611.21——
Social-GAN2022.030.611.21——
EMPMPIn/Out (s)=3.2/4.8, adapted_for_task=true2026.030.630.72——
LSTMNumber of output samples=12019.020.71.52——
Social LSTMNumber of output samples=12019.020.721.54——
P-LSTM2019.050.721.53——
S-LSTM2019.050.721.54——
LinearNumber of output samples=12019.020.791.59——
LR2019.050.791.59——
CVM2019.050.821.62——
Agentformer2022.03——0.230.39
Agentformer2023.03——0.230.39
AgentFormer2024.07——0.230.39
AgentFormerVenue=ICCV’21, K=20, Observability=agent-centric2026.05——0.230.39
AgentFormerParams (M)=0.592, Inference time (ms/agent)=18.072026.05——0.230.39
ART (Ours)2026.04——0.20.32
EigenTrajectory2024.07——0.210.34
EigenTrajectoryVenue=ICCV’23, K=20, Observability=agent-centric2026.05——0.220.36