ResearchBenchmarksTrajectory Prediction on INTERACTION DR_USA_Roundabout_FTTrajectory Prediction on INTERACTION DR_USA_Roundabout_FTFollow0.07Collision RateCriticSMC0.02760.31380.60.8862Mar 6, 2026Evaluation resultsMethodMethodLinksCollision RateOffroad RateMin ADE6Min FDE6MFD6CriticSMC2026.030.07—0.444—2.974DJINN2026.031.18.50.2360.7043.757MBM++2026.031.120.350.2190.6763.544MPGDprojection=falseprojection=false2026.031.130.260.2330.6853.594