ResearchBenchmarksTrajectory Realism Evaluation on Proprietary real highway driving logsTrajectory Realism Evaluation on Proprietary real highway driving logsFollow5.5199Fréchet DistancePHASE5.4866925.7108465.9356.159154Mar 31, 2026Evaluation resultsMethodMethodLinksFréchet DistanceEnergy DistanceMMD (γ = 7×10⁻⁵)MMD (γ = 10⁻⁴)MMD (γ = 5×10⁻⁴)MMD (γ = 10⁻³)MMD (γ = 5×10⁻³)PrecisionRecallPHASE2026.035.51990.01860.00010.00010.00020.0002096.999.99IDM2026.036.35010.02330.00010.00020.00020.00020.000196.8499.99