ResearchBenchmarksTrajectory Prediction on INTERACTION DR_DEU_Roundabout_OFTrajectory Prediction on INTERACTION DR_DEU_Roundabout_OFFollow0.08Collision RateCriticSMC0.01840.43420.851.2658Mar 6, 2026Evaluation resultsMethodMethodLinksCollision RateOffroad Ratemin ADE (6 Steps)min FDE (6 Steps)MFD (6 Steps)CriticSMC2026.030.08—0.445—3.425DJINN2026.031.4822.030.3241.0435.266MBM++2026.031.572.490.3271.0054.684MPGDprojection=withoutprojection=without2026.031.621.780.33814.787