Trajectory Prediction on NGSIM (RMSE Horizons)
0.3RMSE (1s)MAVEN-T
Evaluation results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| MAVEN-T2026.04 | 0.3 | 0.89 | 1.58 | 2.38 | 3.39 | 1.71 | |
| C2F-TP2026.04 | 0.32 | 0.92 | 1.62 | 2.44 | 3.45 | 1.75 | |
| STDAN2026.04 | 0.42 | 1.01 | 1.69 | 2.56 | 3.67 | 1.87 | |
| WSiP2026.04 | 0.56 | 1.23 | 2.05 | 3.08 | 4.34 | 2.25 | |
| CS-LSTM2026.04 | 0.58 | 1.27 | 2.11 | 3.19 | 4.53 | 2.34 | |
| S-LSTM2026.04 | 0.59 | 1.29 | 2.13 | 3.21 | 4.55 | 2.35 | |
| V-LSTM2026.04 | 0.68 | 1.66 | 2.96 | 4.56 | 5.44 | 3.06 | |
| X-TRACKArchitecture=X-TRACK2025.10 | 0.68 | 1.78 | 3.25 | 4.8 | 6.67 | — | |
| X-TRAJArchitecture=X-TRAJ2025.10 | 0.73 | 1.65 | 2.84 | 4.11 | 6.44 | — | |
| GSTANArchitecture=GSTAN2025.10 | 0.89 | 1.66 | 2.74 | 4 | 5.9 | — | |
| cVMDArchitecture=cVMD2025.10 | 0.92 | 2.38 | 4.26 | 6.43 | 8.88 | — | |
| HSTAArchitecture=HSTA2025.10 | 0.97 | 2.11 | 3.66 | 5.35 | 7.4 | — | |
| GFTNNv2Architecture=GFTNNv22025.10 | 0.99 | 1.98 | 3.26 | 4.67 | 6.3 | — | |
| CS-LSTMArchitecture=CS-LSTM2025.10 | 1.17 | 2.24 | 3.84 | 5.64 | 7.66 | — | |
| MHA-LSTMArchitecture=MHA-LSTM2025.10 | 1.17 | 2.14 | 3.6 | 5.22 | 7.11 | — | |
| iNATranArchitecture=iNATran2025.10 | 1.2 | 2.07 | 3.51 | 5.05 | 7.03 | — | |
| Two ChannelArchitecture=Two Channel2025.10 | 1.23 | 2.5 | 4.17 | 6.04 | 8.15 | — | |
| RA-GATArchitecture=RA-GAT2025.10 | 1.24 | 2.24 | 3.8 | 5.54 | 7.65 | — |