Trajectory Prediction on HighD (RMSE, NLL)
0.11RMSEC2F-TP
Evaluation results
| Method | Links | ||
|---|---|---|---|
| C2F-TPTime=1s2026.04 | 0.11 | — | |
| CiTTime=1s2026.04 | 0.12 | 0.15 | |
| PiPTime=1s2026.04 | 0.17 | 0.14 | |
| M-LSTMTime=1s2026.04 | 0.19 | — | |
| N-LSTMTime=1s2026.04 | 0.2 | — | |
| WSiPTime=1s2026.04 | 0.2 | 0.31 | |
| S-LSTMTime=1s2026.04 | 0.21 | 0.46 | |
| DLMTime=1s2026.04 | 0.22 | — | |
| C-LSTMTime=1s2026.04 | 0.24 | 0.43 | |
| S-GANTime=1s2026.04 | 0.3 | — | |
| DRBPTime=1s2026.04 | 0.41 | — | |
| C2F-TPTime=2s2026.04 | 0.41 | — | |
| CiTTime=2s2026.04 | 0.41 | 2.14 | |
| PiPTime=2s2026.04 | 0.52 | 2.24 | |
| M-LSTMTime=2s2026.04 | 0.55 | — | |
| N-LSTMTime=2s2026.04 | 0.57 | — | |
| WSiPTime=2s2026.04 | 0.6 | 2.31 | |
| DLMTime=2s2026.04 | 0.61 | — | |
| S-LSTMTime=2s2026.04 | 0.65 | 2.55 | |
| C-LSTMTime=2s2026.04 | 0.68 | 2.54 | |
| S-GANTime=2s2026.04 | 0.78 | — | |
| DRBPTime=2s2026.04 | 0.79 | — | |
| CiTTime=3s2026.04 | 0.85 | 3.31 | |
| C2F-TPTime=3s2026.04 | 0.92 | — | |
| PiPTime=3s2026.04 | 1.05 | 3.48 | |
| CiTTime=avg2026.04 | 1.06 | 2.89 | |
| M-LSTMTime=3s2026.04 | 1.1 | — | |
| DRBPTime=3s2026.04 | 1.11 | — | |
| N-LSTMTime=3s2026.04 | 1.14 | — | |
| C2F-TPTime=avg2026.04 | 1.14 | — | |
| DLMTime=3s2026.04 | 1.16 | — | |
| WSiPTime=3s2026.04 | 1.21 | 3.51 | |
| PiPTime=avg2026.04 | 1.23 | 3.04 | |
| C-LSTMTime=3s2026.04 | 1.26 | 3.72 | |
| M-LSTMTime=avg2026.04 | 1.29 | — | |
| S-LSTMTime=3s2026.04 | 1.31 | 3.81 | |
| DLMTime=avg2026.04 | 1.32 | — | |
| N-LSTMTime=avg2026.04 | 1.34 | — | |
| DRBPTime=4s2026.04 | 1.4 | — | |
| WSiPTime=avg2026.04 | 1.44 | 3.08 | |
| S-GANTime=3s2026.04 | 1.46 | — | |
| CiTTime=4s2026.04 | 1.49 | 4.11 | |
| S-LSTMTime=avg2026.04 | 1.52 | 3.37 | |
| C-LSTMTime=avg2026.04 | 1.53 | 3.27 | |
| C2F-TPTime=4s2026.04 | 1.64 | — | |
| S-GANTime=avg2026.04 | 1.66 | — | |
| PiPTime=4s2026.04 | 1.76 | 4.33 | |
| DLMTime=4s2026.04 | 1.8 | — | |
| M-LSTMTime=4s2026.04 | 1.84 | — | |
| N-LSTMTime=4s2026.04 | 1.9 | — | |
| WSiPTime=4s2026.04 | 2.07 | 4.32 | |
| C-LSTMTime=4s2026.04 | 2.15 | 4.51 | |
| S-LSTMTime=4s2026.04 | 2.16 | 4.67 | |
| S-GANTime=4s2026.04 | 2.34 | — | |
| CiTTime=5s2026.04 | 2.43 | 4.74 | |
| C2F-TPTime=5s2026.04 | 2.6 | — | |
| PiPTime=5s2026.04 | 2.63 | 4.99 | |
| M-LSTMTime=5s2026.04 | 2.78 | — | |
| DLMTime=5s2026.04 | 2.8 | — | |
| N-LSTMTime=5s2026.04 | 2.91 | — | |
| WSiPTime=5s2026.04 | 3.14 | 4.95 | |
| S-LSTMTime=5s2026.04 | 3.29 | 5.35 | |
| C-LSTMTime=5s2026.04 | 3.31 | 5.13 | |
| S-GANTime=5s2026.04 | 3.41 | — |