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Argoverse

Introduced by Ming-Fang Chang et al. in Argoverse: 3D Tracking and Forecasting with Rich Maps1 Jan 2019 archive 2025-07-28

Argoverse is a tracking benchmark with over 30K scenarios collected in Pittsburgh and Miami. Each scenario is a sequence of frames sampled at 10 HZ. Each sequence has an interesting object called “agent”, and the task is to predict the future locations of agents in a 3 seconds future horizon. The sequences are split into training, validation and test sets, which have 205,942, 39,472 and 78,143 sequences respectively. These splits have no geographical overlap.

Source: Learning Lane Graph Representations for Motion Forecasting Image Source: https://arxiv.org/pdf/1911.02620.pdf

HomepageBenchmarksPapers JSON

Benchmarks archive 2025-07-28

All 6 leaderboards whose dataset resolves to this page shown (sort by any header). "First row" is the archive's own first row at snapshot, in the archive's row order; nothing here re-ranks and metric direction is not asserted.

First row (archive order)PaperCode
Motion Forecasting Argoverse CVPR 2020 SEPT brier-minFDE (K=6) 1.6820 — — 299 Compare
3D Object Tracking Argoverse CVPR 2020 Alibaba_AD_Lab AVG-RANK 9.1 — — 126 Compare
3D Object Detection Argoverse tempVar AVG-CDS 0.41 — — 6 Compare
Monocular Cross-View Road Scene Parsing(Vehicle) Argoverse DCTNet mAP 68.96% A Dual-Cycled Cross-View Transformer Network for Unified... AutoCompSysLab/DCTNet 2 Compare
Monocular Cross-View Road Scene Parsing(Road) Argoverse DCTNet mAP 88.87% A Dual-Cycled Cross-View Transformer Network for Unified... AutoCompSysLab/DCTNet 2 Compare
Trajectory Prediction Argoverse HeteroGCN MR (K=6) 0.12 Dynamic Scenario Representation Learning for Motion... — 1 Compare

Papers archive 2025-07-28

23 shown of 23 papers with a leaderboard row on this dataset's benchmarks, newest first. The archive's own "papers using this dataset" list was never published, so this is the benchmark-backed subset; the archive's count for this dataset is 386. The Syntology column is from Syntology's graph (read 2026-09-24), stated per sample; it is not part of any archive number.

DateSamples run Syntology
Leveraging Future Relationship Reasoning for Vehicle Trajectory Prediction 0 1 24 May 2023 not harvested
Dynamic Scenario Representation Learning for Motion Forecasting with Heterogeneous Graph Convolutional Recurrent Networks 0 1 8 Mar 2023 not harvested
Query-Centric Trajectory Prediction 1 1 1 Jan 2023 not harvested
R-Pred: Two-Stage Motion Prediction Via Tube-Query Attention-Based Trajectory Refinement 0 1 16 Nov 2022 not harvested
GANet: Goal Area Network for Motion Forecasting 1 1 20 Sep 2022 not harvested
A Dual-Cycled Cross-View Transformer Network for Unified Road Layout Estimation and 3D Object Detection in the Bird's-Eye-View 1 2 19 Sep 2022 not harvested
Wayformer: Motion Forecasting via Simple & Efficient Attention Networks 4 1 12 Jul 2022 not harvested
Trajectory Forecasting on Temporal Graphs 1 1 1 Jul 2022 not harvested
TENET: Transformer Encoding Network for Effective Temporal Flow on Motion Prediction 0 1 30 Jun 2022 not harvested
SSL-Lanes: Self-Supervised Learning for Motion Forecasting in Autonomous Driving 1 1 28 Jun 2022 not harvested
Holistic Transformer: A Joint Neural Network for Trajectory Prediction and Decision-Making of Autonomous Vehicles 0 1 17 Jun 2022 not harvested
Bootstrap Motion Forecasting With Self-Consistent Constraints 0 1 12 Apr 2022 not harvested
CRAT-Pred: Vehicle Trajectory Prediction with Crystal Graph Convolutional Neural Networks and Multi-Head Self-Attention 1 1 9 Feb 2022 not harvested
HiVT: Hierarchical Vector Transformer for Multi-Agent Motion Prediction 2 2 1 Jan 2022 not harvested
MultiPath++: Efficient Information Fusion and Trajectory Aggregation for Behavior Prediction 2 1 29 Nov 2021 not harvested
THOMAS: Trajectory Heatmap Output with learned Multi-Agent Sampling 0 1 13 Oct 2021 not harvested
GOHOME: Graph-Oriented Heatmap Output for future Motion Estimation 0 1 4 Sep 2021 not harvested
Projecting Your View Attentively: Monocular Road Scene Layout Estimation via Cross-View Transformation 1 2 19 Jun 2021 not harvested
HOME: Heatmap Output for future Motion Estimation 1 1 23 May 2021 not harvested
TPCN: Temporal Point Cloud Networks for Motion Forecasting 0 1 4 Mar 2021 not harvested
LaneRCNN: Distributed Representations for Graph-Centric Motion Forecasting 0 1 17 Jan 2021 not harvested
PRANK: motion Prediction based on RANKing 0 1 22 Oct 2020 not harvested
TNT: Target-driveN Trajectory Prediction 4 1 19 Aug 2020 not harvested

Dataset loaders archive 2025-07-28

tactics2d.readthedocs.io/en/latest/woodoxen/tactics2d

1 loader as listed in the archive; links are outbound and not re-checked here.

Tasks archive 2025-07-28

3D Object DetectionTrajectory PredictionMotion ForecastingMonocular Cross-View Road Scene Parsing(Road)3D Object TrackingMonocular Cross-View Road Scene Parsing(Vehicle)

License archive 2025-07-28

Custom

Modalities archive 2025-07-28

ImagesVideosPoint cloudLiDAR

Languages archive 2025-07-28

No language tagged.

Variants archive 2025-07-28

  • Argoverse
  • Argoverse CVPR 2020

2 variant names, as the archive lists them.

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