ResearchBenchmarksTrajectory Prediction on INTERACTION DR_DEU_Merging_MT 2019 (val)Trajectory Prediction on INTERACTION DR_DEU_Merging_MT 2019 (val)Follow0.27Collision RateMBM++0.23960.44480.650.8552Mar 6, 2026Evaluation resultsMethodMethodLinksCollision RateOffroad RateMin ADE6Min FDE6MFD6MBM++fine-tuned=truefine-tuned=true2026.030.270.440.180.4522.352MPGDprojection=false, trai...projection=false, training-free=true2026.030.320.290.1950.4672.372DJINNunconstrained=trueunconstrained=true2026.030.398.120.1940.4592.483CriticSMC2026.031.03—0.345—2.201