# Trajectory Prediction on highD (ADE/FDE) Source: [Trajectory Prediction on highD (ADE/FDE)]() Collection index: [llms.txt]() Data updated: 2026-05-25T08:53:30.123Z Evaluation of vehicle trajectory prediction models on the highD dataset, specifically assessed using Average Displacement Error (ADE) and Final Displacement Error (FDE) across prediction horizons ranging from 1 to 5 seconds. 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) | highD | | Metric | ADE (Avg) | | Unit | SCALAR | | Direction | Lower is better | | Results loaded | 16 of 16 | | 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 (Avg)](): Lower is better; unit: SCALAR. - [ADE (1s)](): Lower is better; unit: SCALAR. - [FDE (1s)](): Lower is better; unit: SCALAR. - [ADE (2s)](): Lower is better; unit: SCALAR. - [FDE (2s)](): Lower is better; unit: SCALAR. - [ADE (3s)](): Lower is better; unit: SCALAR. - [FDE (3s)](): Lower is better; unit: SCALAR. - [ADE (4s)](): Lower is better; unit: SCALAR. - [FDE (4s)](): Lower is better; unit: SCALAR. - [ADE (5s)](): Lower is better; unit: SCALAR. - [FDE (5s)](): Lower is better; unit: SCALAR. - [FDE (Avg)](): Lower is better; unit: SCALAR. ## Recorded results | Method | ADE (Avg) | Result date | Report paper | | --- | --- | --- | --- | | MAVEN-T (Student) | 0.33 | Not recorded | 69ddca327d0172140ec79b13 | | C2F-TP | 0.35 | Not recorded | 69ddca327d0172140ec79b13 | | Lightweight-LSTM | 0.5 | Not recorded | 69ddca327d0172140ec79b13 | | DistilBERT-Traj | 0.54 | Not recorded | 69ddca327d0172140ec79b13 | | X-TRACK | 0.56 | Not recorded | 690988793ef7ccd74e5e5abb | | MobileNet-Traj | 0.59 | Not recorded | 69ddca327d0172140ec79b13 | | GFTNNv2 | 0.92 | Not recorded | 690988793ef7ccd74e5e5abb | | X-TRAJ | 1.14 | Not recorded | 690988793ef7ccd74e5e5abb | | GSTAN | 1.28 | Not recorded | 690988793ef7ccd74e5e5abb | | cVMD | 1.74 | Not recorded | 690988793ef7ccd74e5e5abb | | iNATran | 1.84 | Not recorded | 690988793ef7ccd74e5e5abb | | MHA-LSTM | 1.97 | Not recorded | 690988793ef7ccd74e5e5abb | | RA-GAT | 1.99 | Not recorded | 690988793ef7ccd74e5e5abb | | HSTA | 1.99 | Not recorded | 690988793ef7ccd74e5e5abb | | Two Channel | 2.08 | Not recorded | 690988793ef7ccd74e5e5abb | | CS-LSTM | 2.14 | Not recorded | 690988793ef7ccd74e5e5abb | ### MAVEN-T (Student) ADE (Avg): 0.33. Result ID: 69ddfe7147f34ce924c57baf. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Model Type":"Student","Protocol":"Knowledge Distillation"}. This record does not assert independent reproduction. ### C2F-TP ADE (Avg): 0.35. Result ID: 69ddfe7147f34ce924c57bae. [Reporting paper]() Recorded evaluation configuration: {"Model Type":"Student","Protocol":"Knowledge Distillation"}. This record does not assert independent reproduction. ### Lightweight-LSTM ADE (Avg): 0.5. Result ID: 69ddfe7147f34ce924c57bad. [Reporting paper]() Recorded evaluation configuration: {"Model Type":"Student","Protocol":"Knowledge Distillation"}. This record does not assert independent reproduction. ### DistilBERT-Traj ADE (Avg): 0.54. Result ID: 69ddfe7147f34ce924c57bac. [Reporting paper]() Recorded evaluation configuration: {"Model Type":"Student","Protocol":"Knowledge Distillation"}. This record does not assert independent reproduction. ### X-TRACK ADE (Avg): 0.56. Result ID: 6a140df0fbc373592c0b5d7b. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Prediction Horizon":"5s"}. This record does not assert independent reproduction. ### MobileNet-Traj ADE (Avg): 0.59. Result ID: 69ddfe7147f34ce924c57bab. [Reporting paper]() Recorded evaluation configuration: {"Model Type":"Student","Protocol":"Knowledge Distillation"}. This record does not assert independent reproduction. ### GFTNNv2 ADE (Avg): 0.92. Result ID: 6a140df0fbc373592c0b5d83. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Prediction Horizon":"5s"}. This record does not assert independent reproduction. ### X-TRAJ ADE (Avg): 1.14. Result ID: 6a140df0fbc373592c0b5d7c. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Prediction Horizon":"5s"}. This record does not assert independent reproduction. ### GSTAN ADE (Avg): 1.28. Result ID: 6a140df0fbc373592c0b5d85. [Reporting paper]() Recorded evaluation configuration: {"Prediction Horizon":"5s"}. This record does not assert independent reproduction. ### cVMD ADE (Avg): 1.74. Result ID: 6a140df0fbc373592c0b5d84. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Prediction Horizon":"5s"}. This record does not assert independent reproduction. ### iNATran ADE (Avg): 1.84. Result ID: 6a140df0fbc373592c0b5d82. [Reporting paper]() Recorded evaluation configuration: {"Prediction Horizon":"5s"}. This record does not assert independent reproduction. ### MHA-LSTM ADE (Avg): 1.97. Result ID: 6a140df0fbc373592c0b5d7f. [Reporting paper]() Recorded evaluation configuration: {"Prediction Horizon":"5s"}. This record does not assert independent reproduction. ### RA-GAT ADE (Avg): 1.99. Result ID: 6a140df0fbc373592c0b5d80. [Reporting paper]() Recorded evaluation configuration: {"Prediction Horizon":"5s"}. This record does not assert independent reproduction. ### HSTA ADE (Avg): 1.99. Result ID: 6a140df0fbc373592c0b5d81. [Reporting paper]() Recorded evaluation configuration: {"Prediction Horizon":"5s"}. This record does not assert independent reproduction. ### Two Channel ADE (Avg): 2.08. Result ID: 6a140df0fbc373592c0b5d7e. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Prediction Horizon":"5s"}. This record does not assert independent reproduction. ### CS-LSTM ADE (Avg): 2.14. Result ID: 6a140df0fbc373592c0b5d7d. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Prediction Horizon":"5s"}. This record does not assert independent reproduction. Page 1 of 1. This is an index page, not the full collection.