# Trajectory Prediction on ETH-UCY ZARA 2 (Collision Rate)

Source: [Trajectory Prediction on ETH-UCY ZARA 2 (Collision Rate)](<https://www.sota2.com/research/sota/trajectory-prediction-on-eth-ucy-zara-2-collision-rate>)

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

Data updated: 2026-05-13T08:08:17.530Z

Evaluation of trajectory prediction models on the Zara2 subset of the ETH/UCY dataset collection, specifically measuring the Environmental Collision Rate.

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) | ETH-UCY ZARA 2 |
| Metric | Environmental Collision Rate |
| Unit | PERCENT |
| Direction | Lower is better |
| Results loaded | 6 of 6 |
| 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

- [Environmental Collision Rate](<https://www.sota2.com/research/sota/trajectory-prediction-on-eth-ucy-zara-2-collision-rate.md?metric=Environmental%20Collision%20Rate>): Lower is better; unit: PERCENT.

## Recorded results

| Method | Environmental Collision Rate | Result date | Report paper |
| --- | --- | --- | --- |
| Ground Truth | 0.2 | Not recorded | 6a0405b7dbc836b87d827695 |
| JACoP | 0.9 | Not recorded | 6a0405b7dbc836b87d827695 |
| SingularTrajectory | 3.8 | Not recorded | 6a0405b7dbc836b87d827695 |
| Agentformer | 3.9 | Not recorded | 6a0405b7dbc836b87d827695 |
| GP-Graph | 5.6 | Not recorded | 6a0405b7dbc836b87d827695 |
| EqMotion | 6.7 | Not recorded | 6a0405b7dbc836b87d827695 |

### Ground Truth

Environmental Collision Rate: 0.2. Result ID: 6a04316747f34ce924e9f1e5.

[Reporting paper](<https://www.sota2.com/research/paper/6a0405b7dbc836b87d827695.md>)

Recorded evaluation configuration: {"Avg. # Agents":"6.3"}. This record does not assert independent reproduction.

### JACoP

Environmental Collision Rate: 0.9. Result ID: 6a04316747f34ce924e9f1ea.

[Reporting paper](<https://www.sota2.com/research/paper/6a0405b7dbc836b87d827695.md>)

[Method origin paper](<https://www.sota2.com/research/paper/6a0405b7dbc836b87d827695.md>)

Recorded evaluation configuration: {"Avg. # Agents":"6.3"}. This record does not assert independent reproduction.

### SingularTrajectory

Environmental Collision Rate: 3.8. Result ID: 6a04316747f34ce924e9f1e9.

[Reporting paper](<https://www.sota2.com/research/paper/6a0405b7dbc836b87d827695.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa72b71e209131cea581ef.md>)

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

Recorded evaluation configuration: {"Avg. # Agents":"6.3"}. This record does not assert independent reproduction.

### Agentformer

Environmental Collision Rate: 3.9. Result ID: 6a04316747f34ce924e9f1e6.

[Reporting paper](<https://www.sota2.com/research/paper/6a0405b7dbc836b87d827695.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6aef1e209131cea2b2c6.md>)

[Implementation](<https://www.ye-yuan.com/agentformer>)

Recorded evaluation configuration: {"Avg. # Agents":"6.3"}. This record does not assert independent reproduction.

### GP-Graph

Environmental Collision Rate: 5.6. Result ID: 6a04316747f34ce924e9f1e7.

[Reporting paper](<https://www.sota2.com/research/paper/6a0405b7dbc836b87d827695.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6d191e209131cea37b9a.md>)

Recorded evaluation configuration: {"Avg. # Agents":"6.3"}. This record does not assert independent reproduction.

### EqMotion

Environmental Collision Rate: 6.7. Result ID: 6a04316747f34ce924e9f1e8.

[Reporting paper](<https://www.sota2.com/research/paper/6a0405b7dbc836b87d827695.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6ee81e209131cea42d3c.md>)

[Implementation](<https://github.com/MediaBrain-SJTU/EqMotion>)

Recorded evaluation configuration: {"Avg. # Agents":"6.3"}. This record does not assert independent reproduction.

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