Trajectory Prediction on WOMD interactive (val)
0.68minADE (m)Wayformer
Evaluation results
| Method | Links | |||||||
|---|---|---|---|---|---|---|---|---|
| WayformerK=6, FDE threshold=2.0 m2026.05 | 0.68 | 1.42 | 18.9 | — | — | — | — | |
| MTRK=6, FDE threshold=2.0 m2026.05 | 0.7 | 1.48 | 19.5 | — | — | — | — | |
| DenseTNTK=6, FDE threshold=2.0 m2026.05 | 0.73 | 1.55 | 20.1 | — | — | — | — | |
| M2IK=6, FDE threshold=2.0 m2026.05 | 0.75 | 1.63 | 22.8 | — | — | — | — | |
| RECTORK=6, FDE threshold=2.0 m, pipeline=Reproduced in our pipeline2026.05 | 0.805 | 1.513 | 23.33 | — | — | — | — | |
| LaneGCNK=6, FDE threshold=2.0 m2026.05 | 0.87 | 1.92 | 28.4 | — | — | — | — | |
| Consistency modelGradient-free=No2026.06 | — | — | — | 0.49 | — | 0.008 | — | |
| CTGGradient-free=No2026.06 | — | — | — | 1.18 | 1.947 | 0.515 | 0.838 | |
| Latent token searchGradient-free=Yes2026.06 | — | — | — | 0.496 | 0.767 | 0.399 | 0.974 | |
| Latent token search + token opt.Gradient-free=No2026.06 | — | — | — | 0.459 | 0.684 | 0.093 | 0.141 | |
| MotionDiffuserGradient-free=No2026.06 | — | — | — | 0.533 | 2.194 | 0.007 | 0.747 | |
| Optimization baselineGradient-free=No2026.06 | — | — | — | 4.563 | 5.385 | 0.01 | 0.074 |