Trajectory Prediction on ETH-UCY (Scene-wise Evaluation)
0.18Average ADE (20)AGMA
Evaluation results
| Method | Links | ||||||||||||||||||||||||||||||||||||||||||||
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| AGMAVenue=Ours2026.02 | 0.18 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.24 | 0.35 | 0.1 | 0.15 | 0.25 | 0.44 | 0.17 | 0.29 | 0.14 | 0.23 | 0.29 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Trajectron++K (Number of samples)=20, Evaluation Protocol=leave-one-out2021.03 | 0.19 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.39 | 0.83 | 0.12 | 0.21 | 0.2 | 0.44 | 0.15 | 0.33 | 0.11 | 0.25 | 0.41 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| NMRFVenue=ICLR’252026.02 | 0.19 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.26 | 0.37 | 0.11 | 0.17 | 0.28 | 0.49 | 0.17 | 0.3 | 0.14 | 0.25 | 0.32 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Trajectron++2022.03 | 0.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.44 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MoFlowNFE=1002025.03 | 0.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.39 | 0.55 | 0.11 | 0.17 | 0.22 | 0.39 | 0.17 | 0.29 | 0.12 | 0.22 | 0.32 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MoFlow2025.03 | 0.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.4 | 0.57 | 0.11 | 0.17 | 0.23 | 0.39 | 0.15 | 0.26 | 0.12 | 0.22 | 0.32 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| VIKTVenue=TITS’232026.02 | 0.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.3 | 0.51 | 0.13 | 0.25 | 0.23 | 0.51 | 0.21 | 0.44 | 0.14 | 0.3 | 0.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SocialCircleVenue=CVPR’242026.02 | 0.2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.27 | 0.42 | 0.13 | 0.16 | 0.29 | 0.51 | 0.19 | 0.33 | 0.14 | 0.25 | 0.33 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MID2025.03 | 0.21 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.39 | 0.66 | 0.13 | 0.22 | 0.22 | 0.45 | 0.17 | 0.3 | 0.13 | 0.27 | 0.38 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| TUTR2025.03 | 0.21 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.4 | 0.61 | 0.11 | 0.18 | 0.23 | 0.42 | 0.18 | 0.34 | 0.13 | 0.25 | 0.36 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| EqMotion2025.03 | 0.21 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.4 | 0.61 | 0.12 | 0.18 | 0.23 | 0.43 | 0.18 | 0.32 | 0.13 | 0.23 | 0.35 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| EigenTraj2025.03 | 0.21 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.36 | 0.53 | 0.12 | 0.19 | 0.24 | 0.34 | 0.19 | 0.33 | 0.14 | 0.24 | 0.34 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| LED2025.03 | 0.21 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.39 | 0.58 | 0.11 | 0.17 | 0.26 | 0.44 | 0.18 | 0.26 | 0.13 | 0.22 | 0.33 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SingularTraj2025.03 | 0.21 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.35 | 0.42 | 0.13 | 0.19 | 0.25 | 0.44 | 0.19 | 0.32 | 0.15 | 0.25 | 0.32 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| IMLENFE=12025.03 | 0.21 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.4 | 0.61 | 0.12 | 0.18 | 0.24 | 0.44 | 0.17 | 0.31 | 0.13 | 0.24 | 0.36 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MID2025.03 | 0.21 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.39 | 0.66 | 0.13 | 0.22 | 0.22 | 0.45 | 0.17 | 0.3 | 0.13 | 0.27 | 0.38 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| TUTR2025.03 | 0.21 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.4 | 0.61 | 0.11 | 0.18 | 0.23 | 0.42 | 0.18 | 0.34 | 0.13 | 0.25 | 0.36 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| EqMotion2025.03 | 0.21 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.4 | 0.61 | 0.12 | 0.18 | 0.23 | 0.43 | 0.18 | 0.32 | 0.13 | 0.23 | 0.35 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| EigenTraj2025.03 | 0.21 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.36 | 0.53 | 0.12 | 0.19 | 0.24 | 0.34 | 0.19 | 0.33 | 0.14 | 0.24 | 0.34 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| LED*Model Type=student model LED initializer2025.03 | 0.21 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.39 | 0.58 | 0.11 | 0.17 | 0.26 | 0.44 | 0.18 | 0.26 | 0.13 | 0.22 | 0.33 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SingularTraj2025.03 | 0.21 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.35 | 0.42 | 0.13 | 0.19 | 0.25 | 0.44 | 0.19 | 0.32 | 0.15 | 0.25 | 0.32 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| IMLEDescription=IMLE distillation method2025.03 | 0.21 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.4 | 0.58 | 0.12 | 0.18 | 0.23 | 0.39 | 0.16 | 0.26 | 0.13 | 0.22 | 0.33 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| EigenTrajVenue=ICCV’232026.02 | 0.21 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.36 | 0.53 | 0.12 | 0.19 | 0.24 | 0.34 | 0.19 | 0.33 | 0.14 | 0.24 | 0.33 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SingularTrajVenue=CVPR’242026.02 | 0.21 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.35 | 0.42 | 0.13 | 0.19 | 0.25 | 0.44 | 0.19 | 0.32 | 0.15 | 0.25 | 0.32 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MGFVenue=NIPS’242026.02 | 0.21 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.39 | 0.59 | 0.13 | 0.2 | 0.21 | 0.39 | 0.17 | 0.29 | 0.14 | 0.24 | 0.34 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MoFlowVenue=CVPR’252026.02 | 0.21 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.4 | 0.57 | 0.12 | 0.18 | 0.23 | 0.4 | 0.17 | 0.3 | 0.13 | 0.23 | 0.34 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| EqMotionSampling Protocol=Best-of-202024.01 | 0.21 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.4 | 0.61 | 0.12 | 0.18 | 0.23 | 0.43 | 0.18 | 0.32 | 0.13 | 0.23 | 0.35 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| LEDSampling Protocol=Best-of-202024.01 | 0.21 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.39 | 0.58 | 0.11 | 0.17 | 0.26 | 0.44 | 0.18 | 0.26 | 0.13 | 0.22 | 0.33 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| IMLESampling Protocol=Best-of-202024.01 | 0.21 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.4 | 0.58 | 0.12 | 0.18 | 0.23 | 0.39 | 0.16 | 0.26 | 0.13 | 0.22 | 0.33 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Hyper-STTNSampling Protocol=Best-of-202024.01 | 0.21 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.35 | 0.57 | 0.14 | 0.18 | 0.23 | 0.41 | 0.18 | 0.28 | 0.15 | 0.22 | 0.33 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| AgentFormerK (Number of samples)=20, Evaluation Protocol=leave-one-out2021.03 | 0.23 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.45 | 0.75 | 0.14 | 0.22 | 0.25 | 0.45 | 0.18 | 0.3 | 0.14 | 0.24 | 0.39 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| TUTRVenue=ICCV’232026.02 | 0.23 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.45 | 0.67 | 0.14 | 0.2 | 0.24 | 0.44 | 0.19 | 0.36 | 0.15 | 0.28 | 0.39 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MemoNet2022.03 | 0.24 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.43 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Agentformer2022.03 | 0.25 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.45 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GroupNet2025.03 | 0.25 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.46 | 0.73 | 0.15 | 0.25 | 0.26 | 0.49 | 0.21 | 0.39 | 0.17 | 0.33 | 0.44 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GroupNet2025.03 | 0.25 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.46 | 0.73 | 0.15 | 0.25 | 0.26 | 0.49 | 0.21 | 0.39 | 0.17 | 0.33 | 0.44 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GP-GraphVenue=ECCV’222026.02 | 0.25 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.43 | 0.63 | 0.18 | 0.3 | 0.25 | 0.48 | 0.23 | 0.45 | 0.18 | 0.35 | 0.44 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GroupNetSampling Protocol=Best-of-202024.01 | 0.25 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.46 | 0.73 | 0.15 | 0.25 | 0.26 | 0.49 | 0.21 | 0.39 | 0.17 | 0.33 | 0.44 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| STARK (Number of samples)=20, Evaluation Protocol=leave-one-out2021.03 | 0.26 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.36 | 0.65 | 0.17 | 0.36 | 0.31 | 0.62 | 0.26 | 0.55 | 0.22 | 0.46 | 0.53 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| STARSampling Protocol=Best-of-202024.01 | 0.26 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.36 | 0.65 | 0.17 | 0.36 | 0.31 | 0.62 | 0.26 | 0.55 | 0.22 | 0.46 | 0.53 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PECNetK (Number of samples)=20, Evaluation Protocol=leave-one-out2021.03 | 0.29 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.54 | 0.87 | 0.18 | 0.24 | 0.35 | 0.6 | 0.22 | 0.39 | 0.17 | 0.3 | 0.48 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| HGNN (ablation)Sampling Protocol=Best-of-202024.01 | 0.29 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.42 | 0.73 | 0.21 | 0.32 | 0.3 | 0.53 | 0.28 | 0.53 | 0.23 | 0.28 | 0.48 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Trajectron++Sampling Protocol=Best-of-202024.01 | 0.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.61 | 1.02 | 0.19 | 0.28 | 0.3 | 0.54 | 0.24 | 0.42 | 0.18 | 0.32 | 0.51 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Transformer-TFK (Number of samples)=20, Evaluation Protocol=leave-one-out2021.03 | 0.31 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.61 | 1.12 | 0.18 | 0.3 | 0.35 | 0.65 | 0.22 | 0.38 | 0.17 | 0.32 | 0.55 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| STAR2022.03 | 0.31 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.62 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| STTN (ablation)Sampling Protocol=Best-of-202024.01 | 0.31 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.52 | 0.75 | 0.21 | 0.25 | 0.25 | 0.43 | 0.31 | 0.39 | 0.25 | 0.33 | 0.43 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PECNETVenue=ECCV’202026.02 | 0.33 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.64 | 1.13 | 0.22 | 0.38 | 0.35 | 0.57 | 0.25 | 0.45 | 0.18 | 0.31 | 0.57 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Social-ImplicitSampling Protocol=Best-of-202024.01 | 0.33 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.61 | 1.08 | 0.33 | 0.63 | 0.52 | 1.11 | 0.32 | 0.66 | 0.43 | 0.85 | 0.67 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Transformer-TF2022.03 | 0.35 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.65 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PECNet2022.03 | 0.35 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| STAR2022.03 | 0.36 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.65 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MANTRA2022.03 | 0.37 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.81 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Trajectron++Venue=ECCV’202026.02 | 0.37 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.61 | 1.03 | 0.32 | 0.55 | 0.37 | 0.7 | 0.29 | 0.53 | 0.25 | 0.45 | 0.65 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Trajectron++2022.03 | 0.39 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.83 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MemoNet2022.03 | 0.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.61 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Agentformer2022.03 | 0.45 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.75 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MANTRA2022.03 | 0.48 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.88 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| STGAT2022.03 | 0.52 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 1.1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| NMMP2022.03 | 0.52 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 1.11 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SoPhieK (Number of samples)=20, Evaluation Protocol=leave-one-out2021.03 | 0.54 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.7 | 1.43 | 0.76 | 1.67 | 0.54 | 1.24 | 0.3 | 0.63 | 0.38 | 0.78 | 1.15 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PECNet2022.03 | 0.54 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.87 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SGANK (Number of samples)=20, Evaluation Protocol=leave-one-out2021.03 | 0.58 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.81 | 1.52 | 0.72 | 1.61 | 0.6 | 1.26 | 0.34 | 0.69 | 0.42 | 0.84 | 1.18 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| NMMP2022.03 | 0.61 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 1.08 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Transformer-TF2022.03 | 0.61 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 1.12 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Social GANSampling Protocol=Best-of-202024.01 | 0.61 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.87 | 1.62 | 0.67 | 1.37 | 0.76 | 1.52 | 0.35 | 0.68 | 0.42 | 0.84 | 1.21 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| STGAT2022.03 | 0.65 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 1.12 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Social-GAN2022.03 | 0.76 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 1.52 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Social-GAN2022.03 | 0.87 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 1.62 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Social AttentionSampling Protocol=Best-of-202024.01 | 1.41 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 1.39 | 2.39 | 2.51 | 2.91 | 1.25 | 2.54 | 1.01 | 2.17 | 0.88 | 1.75 | 2.35 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| AgentFormerK=20, Map Information=false2022.03 | — | — | — | — | — | — | — | 0.45 | 0.75 | 0.14 | 0.22 | 0.25 | 0.45 | 0.18 | 0.3 | 0.14 | 0.24 | 0.23 | 0.39 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| AutoBotsDeterministic=true2023.12 | — | — | — | — | — | — | — | 0.93 | 1.87 | 0.32 | 0.65 | 0.54 | 1.15 | 0.42 | 0.91 | 0.34 | 0.77 | 0.51 | 1.07 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| AutoBots + RankingDeterministic=true2023.12 | — | — | — | — | — | — | — | 0.9 | 1.78 | 0.3 | 0.56 | 0.53 | 1.12 | 0.41 | 0.89 | 0.32 | 0.7 | 0.49 | 1.01 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| BitTP-ActivationQuantization Strategy=8-bit activations, Backbone=T5-small, Batch Size=1282026.05 | — | — | — | — | — | — | — | 2.89 | 4.86 | 1.16 | 2.02 | 1.36 | 2.47 | 2.4 | 3.67 | 1.4 | 2.55 | 1.84 | 3.12 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 1.49 | 2.5 | |
| BitTP-BothQuantization Strategy=Weights & Activations, Backbone=T5-small, Batch Size=1282026.05 | — | — | — | — | — | — | — | 1.73 | 1.41 | 0.84 | 0.78 | 1.13 | 1.11 | 1.66 | 1.44 | 0.97 | 0.94 | 1.27 | 1.13 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.92 | 0.51 | |
| BitTP-WeightQuantization Strategy=1.58-bit weights, Backbone=T5-small, Batch Size=1282026.05 | — | — | — | — | — | — | — | 0.46 | 0.62 | 0.17 | 0.27 | 0.42 | 0.8 | 0.23 | 0.4 | 0.22 | 0.39 | 0.3 | 0.49 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | -0.05 | -0.13 | |
| CGNSK=20, Error Unit=meters2020.06 | — | — | — | — | — | — | — | 0.62 | 1.4 | 0.7 | 0.93 | 0.48 | 1.22 | 0.32 | 0.59 | 0.35 | 0.71 | 0.49 | 0.97 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CGNSK=20, Map Information=false2022.03 | — | — | — | — | — | — | — | 0.62 | 1.4 | 0.7 | 0.93 | 0.48 | 1.22 | 0.32 | 0.59 | 0.35 | 0.71 | 0.49 | 0.97 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| D-LSTMDeterministic=true2023.12 | — | — | — | — | — | — | — | 1.05 | 2.1 | 0.46 | 0.93 | 0.57 | 1.25 | 0.4 | 0.9 | 0.37 | 0.89 | 0.57 | 1.21 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Expert-GoalsK=20, Map Information=false2022.03 | — | — | — | — | — | — | — | 0.37 | 0.65 | 0.11 | 0.15 | 0.2 | 0.44 | 0.15 | 0.31 | 0.12 | 0.25 | 0.19 | 0.36 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| FvTrajEvaluation Mode=Deterministic2021.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0.62 | 1.23 | 0.53 | 1.1 | 0.57 | 1.19 | 0.42 | 0.89 | 0.38 | 0.79 | 0.5 | 1.04 | — | — | |
| GOAL-GANK=20, Error Unit=meters2020.06 | — | — | — | — | — | — | — | 0.59 | 1.18 | 0.19 | 0.35 | 0.6 | 1.19 | 0.43 | 0.87 | 0.32 | 0.65 | 0.43 | 0.85 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GOAL-GANK=20, Map Information=true2022.03 | — | — | — | — | — | — | — | 0.59 | 1.18 | 0.19 | 0.35 | 0.6 | 1.19 | 0.43 | 0.87 | 0.32 | 0.65 | 0.43 | 0.85 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| IntrovertK=20, Map Information=true2022.03 | — | — | — | — | — | — | — | 0.42 | 0.7 | 0.11 | 0.17 | 0.2 | 0.32 | 0.16 | 0.27 | 0.16 | 0.25 | 0.21 | 0.34 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| LB-EBM2021.04 | — | 2.34 | -1.16 | 0.54 | -0.17 | -1.58 | -0.01 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| LB-EBMK=20, Map Information=false2022.03 | — | — | — | — | — | — | — | 0.3 | 0.52 | 0.13 | 0.2 | 0.27 | 0.52 | 0.2 | 0.37 | 0.15 | 0.29 | 0.21 | 0.38 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| LMTraj-SUPImplementation Source=Original paper reported2026.05 | — | — | — | — | — | — | — | 0.41 | 0.51 | 0.12 | 0.16 | 0.22 | 0.34 | 0.2 | 0.32 | 0.17 | 0.27 | 0.22 | 0.32 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| LMTraj-SUPImplementation Source=Backbone implementation, Precision=BF162026.05 | — | — | — | — | — | — | — | 0.56 | 0.82 | 0.19 | 0.35 | 0.49 | 0.98 | 0.26 | 0.46 | 0.26 | 0.5 | 0.35 | 0.62 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 0 | 0 | |
| LMTraj-SUP-int4Quantization Strategy=int42026.05 | — | — | — | — | — | — | — | 0.47 | 0.71 | 0.2 | 0.36 | 0.49 | 0.97 | 0.25 | 0.44 | 0.28 | 0.54 | 0.34 | 0.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | -0.01 | 0.02 | |
| LMTraj-SUP-int8Quantization Strategy=int82026.05 | — | — | — | — | — | — | — | 0.47 | 0.67 | 0.19 | 0.35 | 0.49 | 0.98 | 0.26 | 0.46 | 0.26 | 0.49 | 0.34 | 0.59 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | -0.01 | -0.03 | |
| MANTRAK=20, Error Unit=meters2020.06 | — | — | — | — | — | — | — | 0.48 | 0.88 | 0.17 | 0.33 | 0.37 | 0.81 | 0.27 | 0.58 | 0.3 | 0.67 | 0.32 | 0.65 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MANTRAK=20, Map Information=false2022.03 | — | — | — | — | — | — | — | 0.48 | 0.88 | 0.17 | 0.33 | 0.37 | 0.81 | 0.27 | 0.58 | 0.3 | 0.67 | 0.32 | 0.65 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MATFK=20, Error Unit=meters2020.06 | — | — | — | — | — | — | — | 1.01 | 1.75 | 0.43 | 0.8 | 0.44 | 0.91 | 0.26 | 0.45 | 0.26 | 0.57 | 0.48 | 0.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MATFEvaluation Mode=Deterministic2021.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 1.33 | 2.49 | 0.51 | 0.95 | 0.56 | 1.19 | 0.44 | 0.93 | 0.34 | 0.73 | 0.64 | 1.26 | — | — | |
| MATFK=20, Map Information=false2022.03 | — | — | — | — | — | — | — | 1.01 | 1.75 | 0.43 | 0.8 | 0.44 | 0.91 | 0.26 | 0.45 | 0.26 | 0.57 | 0.48 | 0.9 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MIDImplementation Source=Original paper reported2026.05 | — | — | — | — | — | — | — | 0.57 | 0.93 | 0.21 | 0.33 | 0.29 | 0.55 | 0.28 | 0.5 | 0.2 | 0.37 | 0.31 | 0.54 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| NextK=20, Map Information=true2022.03 | — | — | — | — | — | — | — | 0.73 | 1.65 | 0.3 | 0.59 | 0.6 | 1.27 | 0.38 | 0.81 | 0.31 | 0.68 | 0.46 | 1 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| NSP-SFMultra-sampling=true, samples per step=20, reporting=overall minimal error2022.07 | — | — | — | — | — | — | — | 0.07 | 0.09 | 0.03 | 0.07 | 0.03 | 0.04 | 0.02 | 0.04 | 0.02 | 0.04 | 0.03 | 0.06 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| ORCADeterministic=true2023.12 | — | — | — | — | — | — | — | 2.27 | 3.44 | 1.03 | 1.54 | 1.29 | 2.079 | 0.97 | 1.6 | 0.87 | 1.45 | 1.28 | 2.02 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PCCSNetK=20, Map Information=false2022.03 | — | — | — | — | — | — | — | 0.28 | 0.54 | 0.11 | 0.19 | 0.29 | 0.6 | 0.21 | 0.44 | 0.15 | 0.34 | 0.21 | 0.42 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PECNetK=20, Error Unit=meters2020.06 | — | — | — | — | — | — | — | 0.54 | 0.87 | 0.18 | 0.24 | 0.35 | 0.6 | 0.22 | 0.39 | 0.17 | 0.3 | 0.29 | 0.48 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — |