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Method-CLL↓
CVAE (Sohn et al.,2015)96.4
BMS-CVAE (Bhattacharyya et al., 2018)95.6
CVAE+ increased capacity (Ours)94.5
CVAE + conditional prior (Ours)88.9
MoG-CVAE,M= 384.6
CF-VAE -no regularization (Ours)104.3
CF-VAE - Affine + pR, C = 0.2 (Ours)77.2
CF-VAE + pR,C= 0.2 (Ours)74.9
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Condition BMS-CVAE Modes (Bhattacharyya et al., 2018) Our CF-VAE Modes Our CF-VAEPrior
H★0Cs8VG“
Cou
?：★ 诊
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MethodVisualError @1secError@ 2secError @ 3secError@4sec-CLL↓
“Shotgun"(Top 10%)(Pajouheshgar & Lampert,2018)None0.71.73.04.591.6
DESIRE-SI-IT4 (Top 10%) (Lee et al.,2017)RGB1.22.33.45.3X
STCNN (Top 10%)(Pajouheshgar & Lampert, 2018)RGB1.22.13.34.6X
BMS-CVAE(Top 10%)(Bhattacharyya et al.,2018)RGB0.81.73.14.6126.6
MoG-CVAE,M=3(Top 10%)None0.81.72.73.986.1
CF-VAE- no regularization (Ours,Top 10%)None0.91.93.34.796.2
CF-VAE+pR,C= 0.2 (Ours,Top 10%)None0.71.52.53.684.6
CF-VAE+ pR,C= 0.2(Ours,Top 10%)RGB0.71.52.43.584.1
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MethodmADE↓mFDE↓
SocialGAN(Gupta et al., 2018)27.241.4
MATF GAN (Zhao et al., 2019)22.533.5
SoPhie (Sadeghian et al., 2019)16.229.3
Goal Prediction (Deo & Trivedi,2019)15.728.1
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Constant VelocityNone1.092.66X
FF (Diehl et al.,2019)None0.451.09X
GAT (Diehl et al., 2019)Yes0.471.04X
CVAE(Top 10%)None0.450.965.32
CVAE+Cyclic KL(Top 10%)None0.380.804.80
CF-VAE + pR,(Ours,Top 10%)None0.440.944.71
CF-VAE+{pR,cR},(Ours,Top 10%)None0.300.573.64
CF-VAE+{pR.cR},(Ours,Top 10%)Yes0.290.553.42
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Method -CLL↓
NL-CVAE 107.6±1.2CVAE(M = 1) (Sohn et al., 2015) 96.4±0.2
MoG-CVAE, M = 2 85.3±0.4MoG-CVAE, M = 3 84.6±0.5MoG-CVAE, M = 4 85.7±0.4MoG-CVAE, M = 5 86.3±0.6CDV (Klushyn et al., 2019), M = 12 99.4±0.7
CF-VAE - NICE (Ours) 78.9±0.2
CF-VAE+ pR.C=0.05,(Ours）75.9±0.5
CF-VAE + pR,(,C = 0.10,(Ours)
7
75.4±0.3
CF-VAE + pR,C: = 0.15, (Ours) 75.1±0.3CF-VAE + pR,C= 0.20,(Ours) 74.9±0.2CF-VAE + pR, C = 0.25,(Ours) 75.8±0.4
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MethodKError @1secError @ 2secError @ 3secError @ 4sec
Top 1 (Best Guess)
“Shotgun"-u90°500.91.93.14.4
“Shotgun"-u90°1000.91.93.04.3
"Shotgun"-u90°5000.91.93.04.3
Top 10%
“Shotgun"-u90°501.22.53.95.4
“Shotgun"-u90°1001.22.53.95.4
“Shotgun"-u90°5001.22.53.95.4
Top 1 (Best Guess)
“Shotgun"-u135°500.92.03.14.5
“Shotgun"-u135°1000.91.93.04.3
“Shotgun"-u135°5000.91.93.04.2
Top 10%
“Shotgun"-u135°501.42.94.56.2
"Shotgun"-u135°1001.42.94.56.2
"Shotgun"-u135°5001.42.94.56.2
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