| UniTraj: A Unified Framework for Scalable Vehicle Trajectory Prediction | ✓ Link | 0.96 | 0.84 | 0.43 | 0.41 | 5.40 | 0.07 | UniTraj (MTR) | 2024-03-22 |
| SemanticFormer: Holistic and Semantic Traffic Scene Representation for Trajectory Prediction using Knowledge Graphs | ✓ Link | 1.14 | 1.14 | 0.50 | 0.50 | 6.27 | 0.03 | SemanticFormer | 2024-04-30 |
| CASPNet++: Joint Multi-Agent Motion Prediction | | 1.16 | 0.92 | 0.50 | 0.29 | 6.18 | 0.01 | CASPNet++ | 2023-08-15 |
| Leveraging Future Relationship Reasoning for Vehicle Trajectory Prediction | | 1.18 | 0.88 | 0.48 | 0.30 | 6.59 | 0.02 | FRM | 2023-05-24 |
| []() | | 1.24 | 1.05 | 0.53 | 0.46 | 7.58 | 0.06 | LaPred++ | |
| Multimodal Trajectory Prediction Conditioned on Lane-Graph Traversals | ✓ Link | 1.27 | 0.94 | 0.52 | 0.34 | 7.17 | 0.03 | PGP | 2021-06-28 |
| Context-Aware Scene Prediction Network (CASPNet) | | 1.28 | 1.01 | 0.53 | 0.32 | 7.02 | 0.01 | CASPNet_v2 | 2022-01-18 |
| THOMAS: Trajectory Heatmap Output with learned Multi-Agent Sampling | | 1.33 | 1.04 | 0.55 | 0.42 | 6.71 | 0.03 | THOMAS | 2021-10-13 |
| []() | | 1.36 | 0.99 | 0.55 | 0.36 | 7.87 | 0.03 | JAL-MTP | |
| []() | | 1.37 | 1.03 | 0.62 | 0.44 | 8.19 | 0.02 | Autobot | |
| []() | | 1.38 | 1.08 | 0.62 | 0.47 | 8.1 | 0.02 | Noah_prediction | |
| GOHOME: Graph-Oriented Heatmap Output for future Motion Estimation | | 1.42 | 1.15 | 0.57 | 0.47 | 6.99 | 0.04 | GOHOME | 2021-09-04 |
| Trajectory Forecasts in Unknown Environments Conditioned on Grid-Based Plans | ✓ Link | 1.45 | 1.16 | 0.64 | 0.46 | 10.5 | 0.03 | P2T | 2020-01-03 |
| []() | | 1.47 | 1.12 | 0.53 | 0.46 | 8.37 | 0.09 | LaPred | |
| []() | | 1.63 | 1.29 | 0.69 | 0.6 | 8.86 | 0.08 | cxx | |
| []() | | 1.67 | 1.67 | 0.66 | 0.66 | 8.43 | 0.07 | ENTC-UoM | |
| []() | | 1.69 | 1.1 | 0.53 | 0.42 | 7.91 | 0.11 | Lane_vae | |
| []() | | 1.81 | 1.24 | 0.59 | 0.46 | 8.57 | 0.07 | MHA_JAM | |
| []() | | 1.82 | 1.04 | 0.55 | 0.4 | 8.23 | 0.03 | yihang | |
| []() | | 1.86 | 1.4 | 0.67 | 0.52 | 9.25 | 0.04 | IUCVL-SGNet | |
| AgentFormer: Agent-Aware Transformers for Socio-Temporal Multi-Agent Forecasting | ✓ Link | 1.86 | 1.45 | | | | | AgentFormer | 2021-03-25 |
| Trajectron++: Dynamically-Feasible Trajectory Forecasting With Heterogeneous Data | ✓ Link | 1.88 | 1.51 | 0.7 | 0.57 | 9.52 | 0.25 | Trajectron++ | 2020-01-09 |
| []() | | 1.92 | 1.92 | 0.78 | 0.78 | 9.29 | 0.1 | invett | |
| []() | | 2.06 | 9.72 | 0.86 | 0.82 | 15.66 | 0.37 | 1223 | |
| []() | | 2.08 | 1.67 | 0.75 | 0.66 | 9.97 | 0.34 | VI tp | |
| []() | | 2.23 | 1.68 | 0.69 | 0.56 | 9.54 | 0.12 | pq | |
| []() | | 2.28 | 2.0 | 0.78 | 0.71 | 15.95 | 0.31 | teamcc | |
| []() | | 2.36 | 1.76 | 0.67 | 0.6 | 9.82 | 0.08 | 8536 | |
| []() | | 2.38 | 1.66 | 0.67 | 0.53 | 10.73 | 0.13 | Semir | |
| []() | | 2.62 | 1.92 | 0.76 | 0.64 | 11.36 | 0.13 | CoverNet, Fixed, Epsilon 2 | |
| []() | | 2.74 | 2.13 | 0.8 | 0.75 | 11.86 | 0.5 | KeepCalm | |
| []() | | 3.7 | 3.7 | 0.88 | 0.88 | 9.09 | 0.12 | Physics Oracle | |
| []() | | 4.46 | 4.46 | 0.91 | 0.91 | 9.52 | 0.07 | xli4217 | |
| []() | | 4.61 | 4.61 | 0.91 | 0.91 | 11.21 | 0.14 | CoverNet | |