HiVT (V2X-Seq-TFD)
| ckpt | minADE | minFDE | MR | |
|---|---|---|---|---|
| Baseline 2 - Online | ||||
| (cooperative traj) | …../lightning_logs/version_31/checkpoints/… | 1.6460645198822021 | 2.9605484008789062 | 0.41558313369750977 |
| Baseline 3 - Offline | ||||
| (pretrain on infra traj, finetune on vehicle traj) | …../lightning_logs/version_24/checkpoints/… | 1.6323434114456177 | 2.861760139465332 | 0.3946622312068939 |
Baseline 2 (30epoch)
Baseline 3 (20epoch + 10epoch)