Trajectory Prediction on nuScenes (val) (minADE/minFDE/MR)
1.2926minADE (5s)MTR
Evaluation Results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| MTRmap_based=true, map_range=±50m2025.09 | 1.2926 | 1.0446 | 7.2689 | 2.284 | 0.424 | |
| DeMomap_based=true, map_range=±50m2025.09 | 1.3137 | 1.0424 | 7.1679 | 2.1806 | 0.3399 | |
| BEVTrajmap_based=false, input=raw sensor data2025.09 | 1.3953 | 0.9051 | 8.1975 | 1.8964 | 0.2783 | |
| Wayformermap_based=true, map_range=±50m2025.09 | 1.4034 | 0.9877 | 7.9707 | 2.2483 | 0.3868 | |
| Autobotmap_based=true, map_range=±50m2025.09 | 1.9566 | 1.1649 | 8.8171 | 2.3294 | 0.3229 |