Table 2.

ADE/FDE (meters) for SOTA upgrade

Dataset	Goal-GAN	Goal-GAN${}_{\text{psp}}$	MG-GAN	MG-GAN${}_{\text{psp}}$
ETH	0.59/1.18	0.56/1.17	0.47/0.91	0.45/0.87
Hotel	0.19/0.35	0.18/0.32	0.14/0.24	0.12/0.21
Zara1	0.60/1.19	0.57/1.20	0.54/1.07	0.54/1.01
Zara2	0.43/0.87	0.40/0.87	0.36/0.73	0.34/0.73
Univ	0.32/0.65	0.30/0.61	0.29/0.60	0.27/0.57
AVG	0.43/0.85	0.40/0.83	0.36/0.71	0.34/0.68

Bold indicates best performing model