# Trajectory Prediction on doScenes Reliable commands

Source: [Trajectory Prediction on doScenes Reliable commands](<https://www.sota2.com/research/sota/trajectory-prediction-on-doscenes-reliable-commands>)

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

Data updated: 2026-05-26T08:48:30.380Z

Evaluation of trajectory prediction models on the doScenes Reliable commands dataset, reporting metrics such as Average Displacement Error (ADE), Final Displacement Error (FDE), and relative performance gains.

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 Prediction |
| Dataset (including any stated split) | doScenes Reliable commands |
| Metric | ADE |
| Unit | SCALAR |
| Direction | Lower is better |
| Results loaded | 4 of 4 |
| 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

- [ADE](<https://www.sota2.com/research/sota/trajectory-prediction-on-doscenes-reliable-commands.md?metric=ADE>): Lower is better; unit: SCALAR.

- [FDE](<https://www.sota2.com/research/sota/trajectory-prediction-on-doscenes-reliable-commands.md?metric=FDE>): Lower is better; unit: SCALAR.

- [ADE Delta](<https://www.sota2.com/research/sota/trajectory-prediction-on-doscenes-reliable-commands.md?metric=ADE%20Delta>): Lower is better; unit: SCALAR.

- [Gain vs VAD-FT](<https://www.sota2.com/research/sota/trajectory-prediction-on-doscenes-reliable-commands.md?metric=Gain%20vs%20VAD-FT>): Lower is better; unit: SCALAR.

## Recorded results

| Method | ADE | Result date | Report paper |
| --- | --- | --- | --- |
| NudgeVAD on VAD-FT | 2.726 | Not recorded | 6a152931dbd7150506f7dff0 |
| VAD-FT (UNCOND) | 2.729 | Not recorded | 6a152931dbd7150506f7dff0 |
| NudgeVAD on VAD-INIT | 2.957 | Not recorded | 6a152931dbd7150506f7dff0 |
| VAD-INIT | 3.146 | Not recorded | 6a152931dbd7150506f7dff0 |

### NudgeVAD on VAD-FT

ADE: 2.726. Result ID: 6a155d54fbc373592c0cd8d9.

[Reporting paper](<https://www.sota2.com/research/paper/6a152931dbd7150506f7dff0.md>)

[Method origin paper](<https://www.sota2.com/research/paper/6a152931dbd7150506f7dff0.md>)

Recorded evaluation configuration: {"base\_planner":"VAD-FT"}. This record does not assert independent reproduction.

### VAD-FT (UNCOND)

ADE: 2.729. Result ID: 6a155d54fbc373592c0cd8d8.

[Reporting paper](<https://www.sota2.com/research/paper/6a152931dbd7150506f7dff0.md>)

Recorded evaluation configuration: {"condition":"unconditional"}. This record does not assert independent reproduction.

### NudgeVAD on VAD-INIT

ADE: 2.957. Result ID: 6a155d54fbc373592c0cd8d7.

[Reporting paper](<https://www.sota2.com/research/paper/6a152931dbd7150506f7dff0.md>)

[Method origin paper](<https://www.sota2.com/research/paper/6a152931dbd7150506f7dff0.md>)

Recorded evaluation configuration: {"base\_planner":"VAD-INIT"}. This record does not assert independent reproduction.

### VAD-INIT

ADE: 3.146. Result ID: 6a155d54fbc373592c0cd8d6.

[Reporting paper](<https://www.sota2.com/research/paper/6a152931dbd7150506f7dff0.md>)

Recorded evaluation configuration: {"status":"initial planner"}. This record does not assert independent reproduction.

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