Dataset

Horizon (s)

S-LSTM

CS-LSTM

NLS-LSTM

S-LSTM

PiP

DLM

Ours

HighD

1

0.22

0.22

0.2

0.3

0.17

0.22

0.17

2

0.62

0.61

0.57

0.78

0.52

0.61

0.49

3

1.27

1.24

1.14

1.46

1.05

1.16

0.66

4

2.15

2.1

1.9

2.34

1.76

1.8

1.23

5

3.41

3.27

2.91

3.41

2.63

2.8

1.92