# Trajectory Planning on Merge Seen Environments

Source: [Trajectory Planning on Merge Seen Environments](<https://www.sota2.com/research/sota/trajectory-planning-on-merge-seen-environments>)

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

Data updated: 2026-04-01T08:50:31.387Z

Evaluation of trajectory planning performance on the Merge Seen Environments dataset, focusing on Average Displacement Error (ADE), Final Displacement Error (FDE), and Success Rate (SR).

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 Planning |
| Dataset (including any stated split) | Merge Seen Environments |
| Metric | Average Displacement Error (ADE) |
| Unit | SCALAR |
| Direction | Lower is better |
| Results loaded | 9 of 9 |
| 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

- [Average Displacement Error (ADE)](<https://www.sota2.com/research/sota/trajectory-planning-on-merge-seen-environments.md?metric=Average%20Displacement%20Error%20(ADE)>): Lower is better; unit: SCALAR.

- [Final Displacement Error (FDE)](<https://www.sota2.com/research/sota/trajectory-planning-on-merge-seen-environments.md?metric=Final%20Displacement%20Error%20(FDE)>): Lower is better; unit: SCALAR.

- [Success Rate (SR)](<https://www.sota2.com/research/sota/trajectory-planning-on-merge-seen-environments.md?metric=Success%20Rate%20(SR)>): Higher is better; unit: PERCENT.

- [p-value](<https://www.sota2.com/research/sota/trajectory-planning-on-merge-seen-environments.md?metric=p-value>): Lower is better; unit: SCALAR.

## Recorded results

| Method | Average Displacement Error (ADE) | Result date | Report paper |
| --- | --- | --- | --- |
| C-TRAIL | 0.93 | Not recorded | 69cca6a70636e5bf4afcbca4 |
| C-TRAIL | 1.27 | Not recorded | 69cca6a70636e5bf4afcbca4 |
| DiLu | 1.83 | Not recorded | 69cca6a70636e5bf4afcbca4 |
| GPT-Dr | 1.95 | Not recorded | 69cca6a70636e5bf4afcbca4 |
| LangMPC | 2.04 | Not recorded | 69cca6a70636e5bf4afcbca4 |
| LMTraj | 2.17 | Not recorded | 69cca6a70636e5bf4afcbca4 |
| GRAD | 3.36 | Not recorded | 69cca6a70636e5bf4afcbca4 |
| MCTS | 3.48 | Not recorded | 69cca6a70636e5bf4afcbca4 |
| DQN | 3.72 | Not recorded | 69cca6a70636e5bf4afcbca4 |

### C-TRAIL

Average Displacement Error (ADE): 0.93. Result ID: 69ccdc4447f34ce924b6a46d.

[Reporting paper](<https://www.sota2.com/research/paper/69cca6a70636e5bf4afcbca4.md>)

[Method origin paper](<https://www.sota2.com/research/paper/69cca6a70636e5bf4afcbca4.md>)

Recorded evaluation configuration: {"LLM Backbone":"GPT-4o"}. This record does not assert independent reproduction.

### C-TRAIL

Average Displacement Error (ADE): 1.27. Result ID: 69ccdc4447f34ce924b6a46c.

[Reporting paper](<https://www.sota2.com/research/paper/69cca6a70636e5bf4afcbca4.md>)

[Method origin paper](<https://www.sota2.com/research/paper/69cca6a70636e5bf4afcbca4.md>)

Recorded evaluation configuration: {"LLM Backbone":"GPT-3.5"}. This record does not assert independent reproduction.

### DiLu

Average Displacement Error (ADE): 1.83. Result ID: 69ccdc4447f34ce924b6a469.

[Reporting paper](<https://www.sota2.com/research/paper/69cca6a70636e5bf4afcbca4.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa724a1e209131cea55997.md>)

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

### GPT-Dr

Average Displacement Error (ADE): 1.95. Result ID: 69ccdc4447f34ce924b6a46b.

[Reporting paper](<https://www.sota2.com/research/paper/69cca6a70636e5bf4afcbca4.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa71581e209131cea50b53.md>)

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

### LangMPC

Average Displacement Error (ADE): 2.04. Result ID: 69ccdc4447f34ce924b6a46a.

[Reporting paper](<https://www.sota2.com/research/paper/69cca6a70636e5bf4afcbca4.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa78111e209131cea7699a.md>)

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

### LMTraj

Average Displacement Error (ADE): 2.17. Result ID: 69ccdc4447f34ce924b6a468.

[Reporting paper](<https://www.sota2.com/research/paper/69cca6a70636e5bf4afcbca4.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa72b71e209131cea581ee.md>)

[Implementation](<https://github.com/inhwanbae/LMTrajectory>)

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

### GRAD

Average Displacement Error (ADE): 3.36. Result ID: 69ccdc4447f34ce924b6a467.

[Reporting paper](<https://www.sota2.com/research/paper/69cca6a70636e5bf4afcbca4.md>)

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

### MCTS

Average Displacement Error (ADE): 3.48. Result ID: 69ccdc4447f34ce924b6a466.

[Reporting paper](<https://www.sota2.com/research/paper/69cca6a70636e5bf4afcbca4.md>)

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

### DQN

Average Displacement Error (ADE): 3.72. Result ID: 69ccdc4447f34ce924b6a465.

[Reporting paper](<https://www.sota2.com/research/paper/69cca6a70636e5bf4afcbca4.md>)

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

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