# Trajectory Forecasting on nuScenes (val) Source: [Trajectory Forecasting on nuScenes (val)]() Collection index: [llms.txt]() Data updated: 2026-02-26T05:41:45.749Z Evaluation of trajectory forecasting models on the validation split of the nuScenes dataset, focusing on metrics such as EPA, minADE, minFDE, and MR. 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 | Trajectory Forecasting | | Dataset (including any stated split) | nuScenes (val) | | Metric | EPA | | Unit | SCALAR | | Direction | Lower is better | | Results loaded | 13 of 13 | | 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 - [EPA](): Lower is better; unit: SCALAR. - [minADE](): Lower is better; unit: SCALAR. - [minFDE](): Lower is better; unit: SCALAR. - [MR](): Lower is better; unit: PERCENT. ## Recorded results | Method | EPA | Result date | Report paper | | --- | --- | --- | --- | | Traditional | 0.209 | Not recorded | 6992a47d9ebc499c97406c37 | | PnPNet | 0.222 | Not recorded | 6992a47d9ebc499c97406c37 | | ViP3D | 0.226 | Not recorded | 6992a47d9ebc499c97406c37 | | PIP | 0.258 | Not recorded | 6992a47d9ebc499c97406c37 | | UniAD | 0.456 | Not recorded | 6992a47d9ebc499c97406c37 | | SparseDrive | 0.482 | Not recorded | 6992a47d9ebc499c97406c37 | | SparseBEV + MASAR | 0.492 | Not recorded | 6992a47d9ebc499c97406c37 | | ForeSight | 0.499 | Not recorded | 6992a47d9ebc499c97406c37 | | BEVFormer + DeTra | 0.504 | Not recorded | 6992a47d9ebc499c97406c37 | | BEVFormer + MASAR | 0.519 | Not recorded | 6992a47d9ebc499c97406c37 | | SparseBEV + MASAR | 0.544 | Not recorded | 6992a47d9ebc499c97406c37 | | ForeSight | 0.549 | Not recorded | 6992a47d9ebc499c97406c37 | | SparseDrive | 0.555 | Not recorded | 6992a47d9ebc499c97406c37 | ### Traditional EPA: 0.209. Result ID: 699a5d315698665ec4e50db1. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Backbone":"R50","Map Offline":true,"Map Online":false,"k":6}. This record does not assert independent reproduction. ### PnPNet EPA: 0.222. Result ID: 699a5d315698665ec4e50dac. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Backbone":"R101","Map Offline":true,"Map Online":false,"k":6}. This record does not assert independent reproduction. ### ViP3D EPA: 0.226. Result ID: 699a5d315698665ec4e50db2. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Backbone":"R50","Map Offline":true,"Map Online":false,"k":6}. This record does not assert independent reproduction. ### PIP EPA: 0.258. Result ID: 699a5d315698665ec4e50dad. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Backbone":"R50","Map Offline":false,"Map Online":true,"k":6}. This record does not assert independent reproduction. ### UniAD EPA: 0.456. Result ID: 699a5d315698665ec4e50dae. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Backbone":"R101","Map Offline":false,"Map Online":true,"k":6}. This record does not assert independent reproduction. ### SparseDrive EPA: 0.482. Result ID: 699a5d315698665ec4e50db3. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Backbone":"R50","Map Offline":false,"Map Online":true,"k":6}. This record does not assert independent reproduction. ### SparseBEV + MASAR EPA: 0.492. Result ID: 699a5d315698665ec4e50db5. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Backbone":"R50","Map Offline":false,"Map Online":false,"k":6}. This record does not assert independent reproduction. ### ForeSight EPA: 0.499. Result ID: 699a5d315698665ec4e50db4. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Backbone":"R50","Map Offline":true,"Map Online":false,"k":6}. This record does not assert independent reproduction. ### BEVFormer + DeTra EPA: 0.504. Result ID: 699a5d315698665ec4e50daf. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Backbone":"R101","Map Offline":false,"Map Online":false,"k":6}. This record does not assert independent reproduction. ### BEVFormer + MASAR EPA: 0.519. Result ID: 699a5d315698665ec4e50db0. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Backbone":"R101","Map Offline":false,"Map Online":false,"k":6}. This record does not assert independent reproduction. ### SparseBEV + MASAR EPA: 0.544. Result ID: 699a5d315698665ec4e50db8. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Backbone":"R101","Map Offline":false,"Map Online":false,"k":6}. This record does not assert independent reproduction. ### ForeSight EPA: 0.549. Result ID: 699a5d315698665ec4e50db7. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Backbone":"R101","Map Offline":true,"Map Online":false,"k":6}. This record does not assert independent reproduction. ### SparseDrive EPA: 0.555. Result ID: 699a5d315698665ec4e50db6. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Backbone":"R101","Map Offline":false,"Map Online":true,"k":6}. This record does not assert independent reproduction. Page 1 of 1. This is an index page, not the full collection.