Trajectory Prediction on Waymo Open Motion Dataset
0.78minADE (occluded)MatchInformer (w yaw)
Evaluation results
| Method | Links | ||||
|---|---|---|---|---|---|
| MatchInformer (w yaw)Occlusion Level=0%2026.01 | 0.78 | 0.24 | 1.17 | 0.54 | |
| MatchInformer (w yaw)Occlusion Level=25%2026.01 | 0.81 | 0.29 | 1.21 | 0.64 | |
| MatchInformer (w/o yaw)Occlusion Level=0%2026.01 | 0.84 | 0.25 | 1.3 | 0.61 | |
| MatchInformer (w yaw)Occlusion Level=50%2026.01 | 0.84 | 0.33 | 1.25 | 0.72 | |
| SceneInformer (reproduced)Occlusion Level=0%2026.01 | 0.85 | 0.26 | 1.42 | 0.62 | |
| MatchInformer (w yaw)Occlusion Level=75%2026.01 | 0.86 | 0.37 | 1.28 | 0.79 | |
| SceneInformerOcclusion Level=0%2026.01 | 0.87 | 0.26 | 1.43 | 0.62 | |
| MatchInformer (w/o yaw)Occlusion Level=25%2026.01 | 0.87 | 0.31 | 1.36 | 0.72 | |
| MatchInformer (w yaw)Occlusion Level=100%2026.01 | 0.88 | 0.4 | 1.31 | 0.86 | |
| SceneInformer (reproduced)Occlusion Level=25%2026.01 | 0.89 | 0.3 | 1.48 | 0.73 | |
| MatchInformer (w/o yaw)Occlusion Level=50%2026.01 | 0.9 | 0.36 | 1.4 | 0.82 | |
| SceneInformerOcclusion Level=25%2026.01 | 0.91 | 0.31 | 1.5 | 0.73 | |
| MatchInformer (w/o yaw)Occlusion Level=75%2026.01 | 0.93 | 0.4 | 1.43 | 0.91 | |
| SceneInformer (reproduced)Occlusion Level=50%2026.01 | 0.94 | 0.35 | 1.53 | 0.82 | |
| SceneInformerOcclusion Level=50%2026.01 | 0.95 | 0.36 | 1.54 | 0.83 | |
| MatchInformer (w/o yaw)Occlusion Level=100%2026.01 | 0.97 | 0.44 | 1.51 | 0.98 | |
| SceneInformerOcclusion Level=75%2026.01 | 0.98 | 0.4 | 1.59 | 0.91 | |
| SceneInformer (reproduced)Occlusion Level=75%2026.01 | 0.98 | 0.4 | 1.57 | 0.91 | |
| SceneInformer (reproduced)Occlusion Level=100%2026.01 | 0.98 | 0.43 | 1.6 | 0.98 | |
| SceneInformerOcclusion Level=100%2026.01 | 1 | 0.43 | 1.63 | 0.99 |