ResearchBenchmarksTrajectory Prediction on SACSoNFollow2.91ATERAE-NWM2.86163.18833.5153.8417Mar 10, 2026Evaluation ResultsMethodMethodLinksATERPERAE-NWMprediction horizon=2 s...prediction horizon=2 seconds2026.032.910.7GNMprediction horizon=2 s...prediction horizon=2 seconds2026.033.711NoMaDprediction horizon=2 s...prediction horizon=2 seconds2026.033.730.96NWMprediction horizon=2 s...prediction horizon=2 seconds2026.034.120.96