# Class-incremental Motion Prediction on nuScenes (val)

Source: [Class-incremental Motion Prediction on nuScenes (val)](<https://www.sota2.com/research/sota/class-incremental-motion-prediction-on-nuscenes-val>)

Collection index: [llms.txt](<https://www.sota2.com/research/llms.txt>)

Data updated: 2026-03-11T08:45:50.130Z

Evaluation of Class-incremental Motion Prediction models on the nuScenes validation set, reporting Average Precision (AP) metrics segmented by motion type (static, linear, non-linear) and prediction horizon.

A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage.

| Scope | Recorded value |
| --- | --- |
| Task | Class-incremental motion prediction |
| Dataset (including any stated split) | nuScenes (val) |
| Metric | AP Static (1-4) |
| Unit | PERCENT |
| Direction | Higher is better |
| Results loaded | 12 of 12 |
| Coverage | All results currently returned for this benchmark |

Evaluation settings may differ between results. The original papers and recorded configurations are needed to establish comparability. A shared metric name alone does not establish an identical protocol.

## Metrics

- [AP Static (1-4)](<https://www.sota2.com/research/sota/class-incremental-motion-prediction-on-nuscenes-val.md?metric=AP%20Static%20(1-4)>): Higher is better; unit: PERCENT.

- [AP Static (5)](<https://www.sota2.com/research/sota/class-incremental-motion-prediction-on-nuscenes-val.md?metric=AP%20Static%20(5)>): Higher is better; unit: PERCENT.

- [AP Static (6-7)](<https://www.sota2.com/research/sota/class-incremental-motion-prediction-on-nuscenes-val.md?metric=AP%20Static%20(6-7)>): Higher is better; unit: PERCENT.

- [AP Static (All)](<https://www.sota2.com/research/sota/class-incremental-motion-prediction-on-nuscenes-val.md?metric=AP%20Static%20(All)>): Higher is better; unit: PERCENT.

- [AP Linear (1-4)](<https://www.sota2.com/research/sota/class-incremental-motion-prediction-on-nuscenes-val.md?metric=AP%20Linear%20(1-4)>): Higher is better; unit: PERCENT.

- [AP Linear (5)](<https://www.sota2.com/research/sota/class-incremental-motion-prediction-on-nuscenes-val.md?metric=AP%20Linear%20(5)>): Higher is better; unit: PERCENT.

- [AP Linear (6-7)](<https://www.sota2.com/research/sota/class-incremental-motion-prediction-on-nuscenes-val.md?metric=AP%20Linear%20(6-7)>): Higher is better; unit: PERCENT.

- [AP Linear (All)](<https://www.sota2.com/research/sota/class-incremental-motion-prediction-on-nuscenes-val.md?metric=AP%20Linear%20(All)>): Higher is better; unit: PERCENT.

- [AP Non-linear (1-4)](<https://www.sota2.com/research/sota/class-incremental-motion-prediction-on-nuscenes-val.md?metric=AP%20Non-linear%20(1-4)>): Higher is better; unit: PERCENT.

- [AP Non-linear (5)](<https://www.sota2.com/research/sota/class-incremental-motion-prediction-on-nuscenes-val.md?metric=AP%20Non-linear%20(5)>): Higher is better; unit: PERCENT.

- [AP Non-linear (6-7)](<https://www.sota2.com/research/sota/class-incremental-motion-prediction-on-nuscenes-val.md?metric=AP%20Non-linear%20(6-7)>): Higher is better; unit: PERCENT.

- [AP Non-linear (All)](<https://www.sota2.com/research/sota/class-incremental-motion-prediction-on-nuscenes-val.md?metric=AP%20Non-linear%20(All)>): Higher is better; unit: PERCENT.

- [mAP (1-4)](<https://www.sota2.com/research/sota/class-incremental-motion-prediction-on-nuscenes-val.md?metric=mAP%20(1-4)>): Higher is better; unit: PERCENT.

- [mAP (5)](<https://www.sota2.com/research/sota/class-incremental-motion-prediction-on-nuscenes-val.md?metric=mAP%20(5)>): Higher is better; unit: PERCENT.

- [mAP (6-7)](<https://www.sota2.com/research/sota/class-incremental-motion-prediction-on-nuscenes-val.md?metric=mAP%20(6-7)>): Higher is better; unit: PERCENT.

- [mAP (All)](<https://www.sota2.com/research/sota/class-incremental-motion-prediction-on-nuscenes-val.md?metric=mAP%20(All)>): Higher is better; unit: PERCENT.

- [EPA (1)](<https://www.sota2.com/research/sota/class-incremental-motion-prediction-on-nuscenes-val.md?metric=EPA%20(1)>): Higher is better; unit: PERCENT.

- [EPA (2)](<https://www.sota2.com/research/sota/class-incremental-motion-prediction-on-nuscenes-val.md?metric=EPA%20(2)>): Higher is better; unit: PERCENT.

- [EPA (All)](<https://www.sota2.com/research/sota/class-incremental-motion-prediction-on-nuscenes-val.md?metric=EPA%20(All)>): Higher is better; unit: PERCENT.

- [AP fstatic (1)](<https://www.sota2.com/research/sota/class-incremental-motion-prediction-on-nuscenes-val.md?metric=AP%20fstatic%20(1)>): Higher is better; unit: PERCENT.

- [AP fstatic (2)](<https://www.sota2.com/research/sota/class-incremental-motion-prediction-on-nuscenes-val.md?metric=AP%20fstatic%20(2)>): Higher is better; unit: PERCENT.

- [AP fstatic (All)](<https://www.sota2.com/research/sota/class-incremental-motion-prediction-on-nuscenes-val.md?metric=AP%20fstatic%20(All)>): Higher is better; unit: PERCENT.

- [AP flinear (1)](<https://www.sota2.com/research/sota/class-incremental-motion-prediction-on-nuscenes-val.md?metric=AP%20flinear%20(1)>): Higher is better; unit: PERCENT.

- [AP flinear (2)](<https://www.sota2.com/research/sota/class-incremental-motion-prediction-on-nuscenes-val.md?metric=AP%20flinear%20(2)>): Higher is better; unit: PERCENT.

- [AP flinear (All)](<https://www.sota2.com/research/sota/class-incremental-motion-prediction-on-nuscenes-val.md?metric=AP%20flinear%20(All)>): Higher is better; unit: PERCENT.

- [AP fnon-linear (1)](<https://www.sota2.com/research/sota/class-incremental-motion-prediction-on-nuscenes-val.md?metric=AP%20fnon-linear%20(1)>): Higher is better; unit: PERCENT.

- [AP fnon-linear (2)](<https://www.sota2.com/research/sota/class-incremental-motion-prediction-on-nuscenes-val.md?metric=AP%20fnon-linear%20(2)>): Higher is better; unit: PERCENT.

- [AP fnon-linear (All)](<https://www.sota2.com/research/sota/class-incremental-motion-prediction-on-nuscenes-val.md?metric=AP%20fnon-linear%20(All)>): Higher is better; unit: PERCENT.

- [mAP f (1)](<https://www.sota2.com/research/sota/class-incremental-motion-prediction-on-nuscenes-val.md?metric=mAP%20f%20(1)>): Higher is better; unit: PERCENT.

- [mAP f (2)](<https://www.sota2.com/research/sota/class-incremental-motion-prediction-on-nuscenes-val.md?metric=mAP%20f%20(2)>): Higher is better; unit: PERCENT.

- [mAP f (All)](<https://www.sota2.com/research/sota/class-incremental-motion-prediction-on-nuscenes-val.md?metric=mAP%20f%20(All)>): Higher is better; unit: PERCENT.

## Recorded results

| Method | AP Static (1-4) | Result date | Report paper |
| --- | --- | --- | --- |
| Joint Training | 30.61 | Not recorded | 69b0f7292d603e6de3e45f31 |
| OMEN | 22.74 | Not recorded | 69b0f7292d603e6de3e45f31 |
| CL-DETR | 22 | Not recorded | 69b0f7292d603e6de3e45f31 |
| Pseudo-Labeling | 20.53 | Not recorded | 69b0f7292d603e6de3e45f31 |
| Pseudo-Labeling | 19.92 | Not recorded | 69b0f7292d603e6de3e45f31 |
| Forgetting | 0 | Not recorded | 69b0f7292d603e6de3e45f31 |

### Joint Training

AP Static (1-4): 30.61. Result ID: 69b12bb96dbb7075b95ba871.

[Reporting paper](<https://www.sota2.com/research/paper/69b0f7292d603e6de3e45f31.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### OMEN

AP Static (1-4): 22.74. Result ID: 69b12bb96dbb7075b95ba876.

[Reporting paper](<https://www.sota2.com/research/paper/69b0f7292d603e6de3e45f31.md>)

[Method origin paper](<https://www.sota2.com/research/paper/69b0f7292d603e6de3e45f31.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### CL-DETR

AP Static (1-4): 22. Result ID: 69b12bb96dbb7075b95ba875.

[Reporting paper](<https://www.sota2.com/research/paper/69b0f7292d603e6de3e45f31.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6f081e209131cea436d1.md>)

Recorded evaluation configuration: {"future pseudo-labeling":"true"}. This record does not assert independent reproduction.

### Pseudo-Labeling

AP Static (1-4): 20.53. Result ID: 69b12bb96dbb7075b95ba874.

[Reporting paper](<https://www.sota2.com/research/paper/69b0f7292d603e6de3e45f31.md>)

Recorded evaluation configuration: {"future pseudo-labeling":"true"}. This record does not assert independent reproduction.

### Pseudo-Labeling

AP Static (1-4): 19.92. Result ID: 69b12bb96dbb7075b95ba873.

[Reporting paper](<https://www.sota2.com/research/paper/69b0f7292d603e6de3e45f31.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### Forgetting

AP Static (1-4): 0. Result ID: 69b12bb96dbb7075b95ba872.

[Reporting paper](<https://www.sota2.com/research/paper/69b0f7292d603e6de3e45f31.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

Page 1 of 1. This is an index page, not the full collection.