ResearchBenchmarksTrajectory Prediction on HuRoNTrajectory Prediction on HuRoNFollow2.94Average Trajectory Error (ATE)SWAM2.90843.12173.3353.5483Jun 29, 2026Evaluation resultsMethodMethodLinksAverage Trajectory Error (ATE)Residual Trajectory Error (RPE)SWAMZero-shot setting=true...Zero-shot setting=true, Training status=no HuRoN training2026.062.940.85NWM+NoMaDScaling factor=x16, Tr...Scaling factor=x16, Training status=trained on HuRoN2026.063.730.95