Trajectory Prediction on Waymo Open Motion Dataset (WOMD) (test)
0.5304minADEModeSeq
Evaluation results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| ModeSeqEnsemble=false, Lidar=false, K modes=62026.05 | 0.5304 | 1.0836 | 0.1244 | 44.5 | 44.87 | — | |
| MTR v3Ensemble=true, Lidar=true, K modes=62026.05 | 0.5554 | 1.1062 | 0.1098 | 48.59 | 49.67 | — | |
| FlowSEnsemble=true2026.04 | 0.5558 | 1.1294 | 0.1117 | 47.03 | 48.04 | 12.68 | |
| IMPACTVenue=arXiv’25, Ensemble=true2026.04 | 0.5563 | 1.1295 | 0.1087 | 45.98 | 48.01 | 12.58 | |
| RMP-YOLOVenue=ICRA’25, Ensemble=true2026.04 | 0.5564 | 1.1188 | 0.1084 | 45.31 | 47.37 | 12.59 | |
| HPTRVenue=AAAI’242026.04 | 0.5565 | 1.1393 | 0.1434 | 39.04 | 39.68 | 13.66 | |
| RMP EnsembleEnsemble=true, Lidar=false, K modes=62026.05 | 0.5596 | 1.1272 | 0.1113 | 45.53 | 47.26 | — | |
| IMPACTVenue=IROS’252026.04 | 0.5641 | 1.154 | 0.1143 | 46.09 | 47.21 | 12.55 | |
| ModeSeqVenue=CVPR’25, Ensemble=true2026.04 | 0.568 | 1.1766 | 0.1204 | 46.65 | 47.37 | 12.75 | |
| ModeSeqEnsemble=true, Lidar=false, K modes=62026.05 | 0.568 | 1.1766 | 0.1204 | 46.65 | 47.37 | — | |
| TrajFlowVenue=IROS’25, Ensemble=true2026.04 | 0.5714 | 1.1667 | 0.1162 | 46.04 | 47.1 | 12.72 | |
| BeTopVenue=NeurIPS’242026.04 | 0.5716 | 1.1668 | 0.1183 | 45.87 | 46.98 | 12.72 | |
| EDA2026.01 | 0.5718 | 1.1702 | 0.1169 | 44.87 | 45.96 | — | |
| UniMotion2026.01 | 0.5718 | 1.1643 | 0.1162 | 45.34 | 46.42 | — | |
| EDAVenue=AAAI’242026.04 | 0.5718 | 1.1702 | 0.1169 | 44.87 | 45.96 | 12.66 | |
| RMP-YOLO2026.01 | 0.5737 | 1.1697 | 0.116 | 45.23 | 46.73 | — | |
| FlowSEnsemble=false2026.04 | 0.5756 | 1.1715 | 0.1182 | 45.12 | 46.58 | 12.87 | |
| TrajFlowVenue=IROS’252026.04 | 0.5811 | 1.1846 | 0.1193 | 44.66 | 45.72 | 12.96 | |
| ControlMTR2026.01 | 0.5897 | 1.1916 | 0.1282 | 44.14 | 45.72 | — | |
| MTR++2026.01 | 0.5906 | 1.1939 | 0.1298 | 43.29 | 44.14 | — | |
| MTR++Reference=T-PAMI 20242025.12 | 0.5906 | 1.1939 | 0.1298 | — | — | — | |
| MTR++#Params=86.6 M, Latency=118 ms, Device=80002025.12 | 0.5906 | 1.1939 | 0.1298 | — | — | — | |
| MTR++Venue=TPAMI’242026.04 | 0.5906 | 1.1939 | 0.1298 | 43.29 | 44.1 | 12.81 | |
| MGTR2026.01 | 0.5918 | 1.2135 | 0.1298 | 45.05 | 45.99 | — | |
| MGTRVenue=ICRA’242026.04 | 0.5918 | 1.2135 | 0.1298 | 45.05 | 45.99 | 12.75 | |
| SparSceneReference=-2025.12 | 0.5924 | 1.1834 | 0.1559 | — | — | — | |
| SparScene#Params=3.2 M, Latency=5 ms, Device=50902025.12 | 0.5924 | 1.1834 | 0.1559 | — | — | — | |
| HDGT2026.01 | 0.5933 | 1.2055 | 0.1854 | 35.77 | 37.09 | — | |
| HDGTReference=T-PAMI 20232025.12 | 0.5933 | 1.2055 | 0.1511 | — | — | — | |
| HDGT#Params=12.1 M, Latency=1320 ms, Device=80002025.12 | 0.5933 | 1.2055 | 0.1511 | — | — | — | |
| HDGTVenue=TPAMI’232026.04 | 0.5933 | 1.2055 | 0.1511 | 35.77 | 37.09 | 15.57 | |
| MTRVenue=NeurIPS’222026.04 | 0.5964 | 1.2039 | 0.1312 | 42.49 | 44.03 | 12.74 | |
| SceneGNNReference=T-ITS 20252025.12 | 0.6029 | 1.2176 | 0.1629 | — | — | — | |
| MTR2026.01 | 0.605 | 1.2207 | 0.1351 | 41.29 | 42.16 | — | |
| MTRReference=NeurIPS 20222025.12 | 0.605 | 1.2207 | 0.1351 | — | — | — | |
| MTR#Params=65.8 M, Latency=193 ms, Device=80002025.12 | 0.605 | 1.2207 | 0.1351 | — | — | — | |
| SceneTransformerReference=ICLR 20222025.12 | 0.6117 | 1.2116 | 0.1564 | — | — | — | |
| SceneTransformer#Params=15.3 M, Latency=52 ms, Device=V1002025.12 | 0.6117 | 1.2116 | 0.1564 | — | — | — | |
| MotionCNNReference=CVPRw 20212025.12 | 0.74 | 1.4936 | 0.2091 | — | — | — | |
| LaneGCNReference=ECCV 20202025.12 | 0.7632 | 1.5589 | 0.2293 | — | — | — | |
| ReCoAtReference=ITSC 20222025.12 | 0.7703 | 1.6668 | 0.2437 | — | — | — | |
| LSTMReference=-2025.12 | 1.0065 | 2.3553 | 0.375 | — | — | — | |
| DenseTNTReference=ICCV 20212025.12 | 1.0387 | 1.5514 | 0.1779 | — | — | — |