ResearchBenchmarksTrajectory Prediction on SDD (min_k ADE, JADE, Collision Metrics)Follow7.42min-k ADEMART7.34887.82948.318.7906May 12, 2026Evaluation ResultsMethodMethodLinksmin-k ADEmin-k FDEJADEJFDEA2A Collision RateA2E Collision RateMART2026.057.4211.819.4816.770.010.055MGF2026.057.7112.0711.319.880.0190.058NMRF2026.057.8612.5910.1918.020.0040.066JACoP2026.059.215.9711.4521.020.0020.028