Trajectory Prediction on ETH UCY (test)
0.17ADEBiTraP-NP
Evaluation results
| Method | Links | |||||||||||||||||||||||
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| BiTraP-NPdistribution=Non-Parametric, sampling=Best-of-202020.07 | 0.17 | 0.37 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| AgentFormerK=202021.12 | 0.18 | 0.29 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| BiTraP-GMMdistribution=Gaussian Mixture Model, sampling=Best-of-202020.07 | 0.19 | 0.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Trajectron++K=202021.12 | 0.19 | 0.41 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Trajectron++sampling=Best-of-202020.07 | 0.22 | 0.43 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| STARK=202021.12 | 0.26 | 0.53 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PECNetK=202021.12 | 0.29 | 0.48 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| VAEK=202021.12 | 0.29 | 0.48 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CVAEK=202021.12 | 0.29 | 0.48 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| LB-EBMProbabilistic=true, History frames=8, Prediction frames=122021.04 | 0.3 | 0.52 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Transformer-TFK=202021.12 | 0.31 | 0.55 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MyriadEvaluation Setting=Best-of-20, zero-shot=true2026.04 | 0.31 | 0.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Social-CVAEK=202021.12 | 0.32 | 0.52 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PECNetsampling=Best-of-202020.07 | 0.35 | 0.6 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SingularTrajectoryNumber of samples (S)=202024.03 | 0.35 | 0.42 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| NPSNNumber of samples (S)=202024.03 | 0.36 | 0.59 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| EigenTrajectoryNumber of samples (S)=202024.03 | 0.36 | 0.53 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| BiTraP-NPdistribution=Non-Parametric, sampling=Best-of-202020.07 | 0.37 | 0.69 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| LEDNumber of samples (S)=202024.03 | 0.39 | 0.58 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MGFM=202024.02 | 0.39 | 0.59 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Trajectron++Evaluation Setting=Best-of-202026.04 | 0.39 | 0.83 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| BiTraP-GMMdistribution=Gaussian Mixture Model, sampling=Best-of-202020.07 | 0.4 | 0.74 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| EqMotionNumber of samples (S)=202024.03 | 0.4 | 0.61 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| EqMotionM=202024.02 | 0.4 | 0.61 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SocialVAENumber of samples (S)=202024.03 | 0.41 | 0.58 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Trajectron++sampling=Best-of-202020.07 | 0.43 | 0.86 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GP-GraphNumber of samples (S)=202024.03 | 0.43 | 0.63 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| AgentFormerM=202024.02 | 0.45 | 0.75 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GroupNetNumber of samples (S)=202024.03 | 0.46 | 0.73 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| AgentFormerNumber of samples (S)=202024.03 | 0.46 | 0.8 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GroupNetM=202024.02 | 0.46 | 0.73 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PECNetsampling=Best-of-202020.07 | 0.54 | 0.87 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SoPhiesampling=Best-of-202020.07 | 0.54 | 1.24 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PECNetProbabilistic=true, History frames=8, Prediction frames=122021.04 | 0.54 | 0.87 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SoPhieK=202021.12 | 0.54 | 1.15 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PECNetM=202024.02 | 0.54 | 0.87 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| S-BiGATsampling=Best-of-202020.07 | 0.55 | 1.32 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MIDM=202024.02 | 0.55 | 0.88 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| FlowChainM=202024.02 | 0.55 | 0.99 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| STARNumber of samples (S)=202024.03 | 0.57 | 1.11 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MIDNumber of samples (S)=202024.03 | 0.57 | 0.93 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SGANK=202021.12 | 0.58 | 1.18 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| TrajectronEvaluation Setting=Best-of-202026.04 | 0.59 | 1.14 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| S-GANsampling=Best-of-202020.07 | 0.6 | 1.26 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| LBEBMNumber of samples (S)=202024.03 | 0.6 | 1.06 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PECNetNumber of samples (S)=202024.03 | 0.61 | 1.07 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Trajectron++Number of samples (S)=202024.03 | 0.61 | 1.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Trajectron++M=202024.02 | 0.61 | 1.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| CGNSProbabilistic=true, History frames=8, Prediction frames=122021.04 | 0.62 | 1.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SR-LSTM-2Probabilistic=false, History frames=8, Prediction frames=122021.04 | 0.63 | 1.25 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Social-STGCNNProbabilistic=true, History frames=8, Prediction frames=122021.04 | 0.64 | 1.11 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| STGCNNNumber of samples (S)=202024.03 | 0.64 | 1.11 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Social-STGCNNM=202024.02 | 0.64 | 1.11 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| STGATM=202024.02 | 0.65 | 1.12 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| GATProbabilistic=true, History frames=8, Prediction frames=122021.04 | 0.68 | 1.29 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| S-BiGATsampling=Best-of-202020.07 | 0.69 | 1.29 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Social-BiGATProbabilistic=true, History frames=8, Prediction frames=122021.04 | 0.69 | 1.29 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SoPhiesampling=Best-of-202020.07 | 0.7 | 1.43 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SoPhieProbabilistic=true, History frames=8, Prediction frames=122021.04 | 0.7 | 1.43 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Trajectron++Evaluation Setting=Deterministic2026.04 | 0.71 | 1.66 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| PIFProbabilistic=true, History frames=8, Prediction frames=122021.04 | 0.73 | 1.65 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| STSGNProbabilistic=true, History frames=8, Prediction frames=122021.04 | 0.75 | 1.63 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SceneSelect2026.04 | 0.79 | 1.09 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| S-GANsampling=Best-of-202020.07 | 0.81 | 1.52 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MATFProbabilistic=true, History frames=8, Prediction frames=122021.04 | 0.81 | 1.52 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SocialGANEvaluation Setting=Best-of-202026.04 | 0.81 | 1.52 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| MyriadEvaluation Setting=Deterministic, zero-shot=true2026.04 | 0.81 | 1.5 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SocialMOIF2026.04 | 0.81 | 1.66 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SingularTraj2026.04 | 0.82 | 1.68 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Certified HTP2026.04 | 0.83 | 1.72 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Weighted Ensemble2026.04 | 0.84 | 1.7 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| EqMotion2026.04 | 0.86 | 1.85 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| S-GAN-PProbabilistic=true, History frames=8, Prediction frames=122021.04 | 0.87 | 1.62 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Social-GANNumber of samples (S)=202024.03 | 0.87 | 1.62 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Social-GANM=202024.02 | 0.87 | 1.62 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Trajectron++2026.04 | 0.91 | 2.05 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Uniform Ensemble2026.04 | 0.92 | 2 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| LED2026.04 | 0.93 | 1.13 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SocialVAE2026.04 | 0.99 | 2.28 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| AgentFormer2026.04 | 1 | 2.37 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| Random Scheduling2026.04 | 1.05 | 2.3 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| S-LSTMProbabilistic=true, History frames=8, Prediction frames=122021.04 | 1.09 | 2.35 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| SocialLSTMEvaluation Setting=Deterministic2026.04 | 1.09 | 2.35 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| AutoBots2026.04 | 1.1 | 2.4 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| LinearProbabilistic=false, History frames=8, Prediction frames=122021.04 | 1.33 | 2.94 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | |
| AgentFormer2024.02 | — | — | 1.998 | 4.56 | 0.995 | 2.333 | 1.049 | 2.445 | 0.774 | 1.772 | 0.849 | 1.982 | 1.133 | 2.618 | — | — | — | — | — | — | — | — | — | |
| BaseArchitecture=Autoregressive Transformer2026.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 4.73 | 6.15 | 1.68 | |
| CGNSK=20, tp=3.2 sec, tf=4.8 sec, np=8, nf=122020.12 | — | — | 0.62 | 1.4 | 0.7 | 0.93 | 0.48 | 1.22 | 0.32 | 0.59 | 0.35 | 0.71 | 0.49 | 0.97 | — | — | — | — | — | — | — | — | — | |
| CGNSNumber of samples=20, Error selection=minimal error, M parameter=7, Sampling strategy=standard-sampling2022.07 | — | — | 0.62 | 1.4 | 0.7 | 0.93 | 0.48 | 1.22 | 0.32 | 0.59 | 0.35 | 0.71 | 0.49 | 0.97 | — | — | — | — | — | — | — | — | — | |
| CSCNetNumber of samples=20, Error selection=minimal error, M parameter=7, Sampling strategy=standard-sampling2022.07 | — | — | 0.51 | 1.05 | 0.22 | 0.42 | 0.36 | 0.81 | 0.31 | 0.68 | 0.37 | 1.02 | 0.37 | 0.79 | — | — | — | — | — | — | — | — | — | |
| EqAutoArchitecture=Equivariant Autoregressive Transformer2026.03 | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | — | 5.4 | 7.33 | 0 | |
| FlowChain2024.02 | — | — | 0.814 | 1.481 | 0.484 | 0.833 | 0.636 | 1.094 | 0.505 | 0.89 | 0.492 | 0.859 | 0.586 | 1.031 | — | — | — | — | — | — | — | — | — | |
| MATFBest of Samples=202020.01 | — | — | 1.01 | 1.75 | 0.43 | 0.8 | 0.44 | 0.91 | 0.26 | 0.45 | 0.26 | 0.57 | 0.48 | 0.9 | — | — | — | — | — | — | — | — | — | |
| MemoNet2024.02 | — | — | 1.232 | 2.87 | 0.95 | 2.03 | 0.847 | 1.822 | 0.844 | 1.919 | 0.88 | 2.12 | 0.951 | 2.152 | — | — | — | — | — | — | — | — | — | |
| MGF2024.02 | — | — | 1.624 | 3.555 | 1.138 | 2.387 | 1.115 | 2.163 | 1.029 | 2.119 | 1.065 | 2.182 | 1.194 | 2.481 | — | — | — | — | — | — | — | — | — | |
| NEXTNumber of samples=20, Error selection=minimal error, M parameter=7, Sampling strategy=standard-sampling2022.07 | — | — | 0.73 | 1.65 | 0.3 | 0.59 | 0.6 | 1.27 | 0.38 | 0.81 | 0.31 | 0.68 | 0.46 | 1 | — | — | — | — | — | — | — | — | — | |
| NSP-SFMNumber of samples=20, Error selection=minimal error, M parameter=7, Sampling strategy=standard-sampling2022.07 | — | — | 0.25 | 0.24 | 0.09 | 0.13 | 0.21 | 0.38 | 0.16 | 0.27 | 0.12 | 0.2 | 0.17 | 0.24 | — | — | — | — | — | — | — | — | — | |
| NSP-SFM2022.07 | — | — | 0 | — | 0 | — | 1.48 | — | 0 | — | 0.66 | — | 0.43 | — | — | — | — | — | — | — | — | — | — | |
| PECNetK=20, tp=3.2 sec, tf=4.8 sec, np=8, nf=122020.12 | — | — | 0.54 | 0.87 | 0.18 | 0.24 | 0.35 | 0.6 | 0.22 | 0.39 | 0.17 | 0.3 | 0.29 | 0.48 | — | — | — | — | — | — | — | — | — | |
| PECNetNumber of samples=20, Error selection=minimal error, M parameter=7, Sampling strategy=standard-sampling2022.07 | — | — | 0.54 | 0.87 | 0.18 | 0.24 | 0.35 | 0.6 | 0.22 | 0.39 | 0.17 | 0.3 | 0.29 | 0.48 | — | — | — | — | — | — | — | — | — |