Model performance on the Waymo Open Dataset
| Methods | mADE | mFDE | MR | Overlap Rate |
|---|---|---|---|---|
| Basic_LSTM | 5.5092 | 11.5927 | 0.8034 | 0.2937 |
| Loft | 6.1850 | 14.5074 | 0.8237 | 0.2697 |
| LSTM_CV | 4.6984 | 11.1285 | 0.7831 | 0.3145 |
| AS_LSTM | 4.5373 | 10.8299 | 0.7374 | 0.2714 |
| ANET | 4.0467 | 9.8998 | 0.7939 | 0.2824 |
| AE_LSTM | 3.9917 | 10.8874 | 0.7490 | 0.2761 |
| Raster_MP | 3.4021 | 8.7416 | 0.6974 | 0.2367 |
| Social-Lane Aggregator (Ours) | 3.0452 | 6.1735 | 0.5674 | 0.2615 |
| mADE | mFDE | MR | Overlap Rate | |
|---|---|---|---|---|
| 5.5092 | 11.5927 | 0.8034 | 0.2937 | |
| 6.1850 | 14.5074 | 0.8237 | 0.2697 | |
| 4.6984 | 11.1285 | 0.7831 | 0.3145 | |
| 4.5373 | 10.8299 | 0.7374 | 0.2714 | |
| 4.0467 | 9.8998 | 0.7939 | 0.2824 | |
| 3.9917 | 10.8874 | 0.7490 | 0.2761 | |
| 3.4021 | 8.7416 | 0.6974 | 0.2367 | |
| 3.0452 | 6.1735 | 0.5674 | 0.2615 |
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