Trajectory Prediction on TUM intersection dataset 2s horizon
0.548ADEBaseline
Evaluation Results
| Method | Links | ||||
|---|---|---|---|---|---|
| BaselineExtra losses=MSE only, Description=Standard LSTM baseline2026.03 | 0.548 | 1.107 | 0.643 | 0.642 | |
| Diversity_LossDescription=Stochastic best sample variant2026.03 | 0.548 | 1.107 | 0.643 | 0.642 | |
| Map_LossExtra losses=L_infra (Lane proximity)2026.03 | 0.716 | 1.268 | 0.803 | 0.76 | |
| Collision_LossExtra losses=L_coll (Batch repulsion)2026.03 | 0.778 | 1.255 | 0.859 | 0.797 | |
| CVDescription=Constant velocity, Training=no training2026.03 | 0.931 | 1.957 | 1.111 | 1.098 | |
| Twin_AllExtra losses=L_infra + L_coll, Description=Both digital-twin losses2026.03 | 0.936 | 1.484 | 1.021 | 0.917 | |
| KF-CADescription=Kalman-Singer, Training=no training2026.03 | 1.001 | 2.286 | 1.217 | 1.169 |