ResearchBenchmarksTrajectory Prediction on PIE (MSE and FPS evaluation)Trajectory Prediction on PIE (MSE and FPS evaluation)Follow19MSE @ 0.5sLRHP13.451.289126.8Mar 22, 2026Evaluation resultsMethodMethodLinksMSE @ 0.5sMSE @ 1.0sMSE @ 1.5sCMSE @ 1.5sCFMSE @ 1.5sFPS (Batch 8)FPS (Batch 12)FPS (Batch 24)LRHP2026.0319441048123311110492.6SGNet2026.03341334424131,7612.82.82.7Bitrap2026.03411615114811,94999.310597.1PIE traj2026.03582006365962,477———B-LSTM2026.031595391,5351,4475,615———