Trajectory Prediction on nuScenes (minADE6/minFDE6/MR6)
0.3357minADE6GT Map
Evaluation results
| Method | Links | |||
|---|---|---|---|---|
| GT MapInput Source=Ground Truth2026.03 | 0.3357 | 0.6525 | 5.36 | |
| MapTRv2-CL + LRPDBackbone=MapTRv2-CL, Map Method=Uncertainty: LRPD2026.03 | 0.3423 | 0.6648 | 5.55 | |
| MapTRv2 + BEV & Dual Dec.Backbone=MapTRv2, Map Method=BEV & Dual Dec.2026.03 | 0.3475 | 0.6929 | 6.61 | |
| MapTRv2-CL + BEV & Dual Dec.Backbone=MapTRv2-CL, Map Method=BEV & Dual Dec.2026.03 | 0.3496 | 0.7096 | 6.79 | |
| MapTR + BEV & Dual Dec.Backbone=MapTR, Map Method=BEV & Dual Dec.2026.03 | 0.3498 | 0.7021 | 6.51 | |
| MapTR + LRPDBackbone=MapTR, Map Method=Uncertainty: LRPD2026.03 | 0.3573 | 0.7103 | 6.52 | |
| MapTRv2 + LRPDBackbone=MapTRv2, Map Method=Uncertainty: LRPD2026.03 | 0.3573 | 0.7167 | 6.27 | |
| MapTR + BEVBackbone=MapTR, Map Method=BEV2026.03 | 0.3617 | 0.7401 | 7.2 | |
| MapTRv2-CL + BEVBackbone=MapTRv2-CL, Map Method=BEV2026.03 | 0.3652 | 0.7323 | 7.1 | |
| MapTRv2-CL + iidBackbone=MapTRv2-CL, Map Method=Uncertainty: iid, Status=reproduced2026.03 | 0.3659 | 0.7385 | 7.64 | |
| MapTRv2-CL + iid & Dual Dec.Backbone=MapTRv2-CL, Map Method=Uncertainty: iid & Dual Dec.2026.03 | 0.3659 | 0.7404 | 7.21 | |
| MapTRv2 + iid & Dual Dec.Backbone=MapTRv2, Map Method=Uncertainty: iid & Dual Dec.2026.03 | 0.367 | 0.7538 | 7.08 | |
| MapTR + iid & Dual Dec.Backbone=MapTR, Map Method=Uncertainty: iid & Dual Dec.2026.03 | 0.3672 | 0.7395 | 7.56 | |
| MapTRv2-CL + iidBackbone=MapTRv2-CL, Map Method=Uncertainty: iid, Status=reported2026.03 | 0.3727 | 0.7492 | 7.26 | |
| MapTR + iidBackbone=MapTR, Map Method=Uncertainty: iid, Status=reproduced, Extra=FiLM2026.03 | 0.3771 | 0.7679 | 7.97 | |
| MapTRv2-CLBackbone=MapTRv2-CL, Map Method=Deterministic2026.03 | 0.379 | 0.7822 | 8.53 | |
| MapTRv2 + BEVBackbone=MapTRv2, Map Method=BEV2026.03 | 0.3844 | 0.7848 | 7.41 | |
| MapTR + iidBackbone=MapTR, Map Method=Uncertainty: iid, Status=reported2026.03 | 0.3854 | 0.7909 | 8.34 | |
| MapTR + iidBackbone=MapTR, Map Method=Uncertainty: iid, Status=reproduced2026.03 | 0.387 | 0.8036 | 8.98 | |
| MapTR + iidBackbone=MapTR, Map Method=Uncertainty: iid, Status=reproduced, Extra=score concat2026.03 | 0.3875 | 0.7966 | 8.52 | |
| MapTRv2 + iidBackbone=MapTRv2, Map Method=Uncertainty: iid, Status=reproduced2026.03 | 0.3901 | 0.8103 | 9.09 | |
| MapTRv2 + iidBackbone=MapTRv2, Map Method=Uncertainty: iid, Status=reported2026.03 | 0.393 | 0.8127 | 8.57 | |
| MapTRBackbone=MapTR, Map Method=Deterministic2026.03 | 0.4015 | 0.8418 | 9.81 | |
| MapTRv2Backbone=MapTRv2, Map Method=Deterministic2026.03 | 0.4057 | 0.8499 | 9.92 |