# Trajectory Prediction on NGSIM (ADE/FDE Horizons) Source: [Trajectory Prediction on NGSIM (ADE/FDE Horizons)]() Collection index: [llms.txt]() Data updated: 2026-05-25T08:53:30.172Z Evaluation of trajectory prediction models on the NGSIM dataset, assessed using Average Displacement Error (ADE) and Final Displacement Error (FDE) across prediction horizons from 1 to 5 seconds, including overall averages. 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) | NGSIM | | Metric | ADE (Avg) | | Unit | SCALAR | | Direction | Lower is better | | Results loaded | 28 of 28 | | 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) | 0.77 | Not recorded | 69ddca327d0172140ec79b13 | | C2F-TP | 0.79 | Not recorded | 69ddca327d0172140ec79b13 | | Lightweight-LSTM | 1.09 | Not recorded | 69ddca327d0172140ec79b13 | | DistilBERT-Traj | 1.14 | Not recorded | 69ddca327d0172140ec79b13 | | MobileNet-Traj | 1.23 | Not recorded | 69ddca327d0172140ec79b13 | | EdgeVTPError | 1.85 | Not recorded | 69e7046e7d0172140ec7eb9d | | STA-LSTM | 1.89 | Not recorded | 69e7046e7d0172140ec7eb9d | | EdgeVTPTF | 1.89 | Not recorded | 69e7046e7d0172140ec7eb9d | | GSTAN | 1.94 | Not recorded | 690988793ef7ccd74e5e5abb | | X-TRAJ | 1.99 | Not recorded | 690988793ef7ccd74e5e5abb | | DeepTrack | 2.01 | Not recorded | 69e7046e7d0172140ec7eb9d | | VT-FormerSH | 2.1 | Not recorded | 69e7046e7d0172140ec7eb9d | | X-TRACK | 2.11 | Not recorded | 690988793ef7ccd74e5e5abb | | EdgeVTPLat | 2.13 | Not recorded | 69e7046e7d0172140ec7eb9d | | VT-FormerMH | 2.24 | Not recorded | 69e7046e7d0172140ec7eb9d | | GFTNNv2 | 2.26 | Not recorded | 690988793ef7ccd74e5e5abb | | CS-LSTM | 2.29 | Not recorded | 69e7046e7d0172140ec7eb9d | | iNATran | 2.43 | Not recorded | 690988793ef7ccd74e5e5abb | | Pishgu | 2.44 | Not recorded | 69e7046e7d0172140ec7eb9d | | VT-FormerLH | 2.53 | Not recorded | 69e7046e7d0172140ec7eb9d | | MHA-LSTM | 2.54 | Not recorded | 690988793ef7ccd74e5e5abb | | HSTA | 2.54 | Not recorded | 690988793ef7ccd74e5e5abb | | CS-LSTM | 2.69 | Not recorded | 690988793ef7ccd74e5e5abb | | RA-GAT | 2.7 | Not recorded | 690988793ef7ccd74e5e5abb | | Two Channel | 2.89 | Not recorded | 690988793ef7ccd74e5e5abb | | cVMD | 3.02 | Not recorded | 690988793ef7ccd74e5e5abb | ### MAVEN-T (Student) ADE (Avg): 0.77. Result ID: 69ddfe7147f34ce924c57baa. [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): 0.79. Result ID: 69ddfe7147f34ce924c57ba9. [Reporting paper]() Recorded evaluation configuration: {"Model Type":"Student","Protocol":"Knowledge Distillation"}. This record does not assert independent reproduction. ### Lightweight-LSTM ADE (Avg): 1.09. Result ID: 69ddfe7147f34ce924c57ba8. [Reporting paper]() Recorded evaluation configuration: {"Model Type":"Student","Protocol":"Knowledge Distillation"}. This record does not assert independent reproduction. ### DistilBERT-Traj ADE (Avg): 1.14. Result ID: 69ddfe7147f34ce924c57ba7. [Reporting paper]() Recorded evaluation configuration: {"Model Type":"Student","Protocol":"Knowledge Distillation"}. This record does not assert independent reproduction. ### MobileNet-Traj ADE (Avg): 1.23. Result ID: 69ddfe7147f34ce924c57ba6. [Reporting paper]() Recorded evaluation configuration: {"Model Type":"Student","Protocol":"Knowledge Distillation"}. This record does not assert independent reproduction. ### EdgeVTPError ADE (Avg): 1.85. Result ID: 69e730f847f34ce924cd4967. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Params (K)":"145.9","E2E (ms)":"4.58"}. This record does not assert independent reproduction. ### STA-LSTM ADE (Avg): 1.89. Result ID: 69e730f847f34ce924cd4960. [Reporting paper]() Recorded evaluation configuration: {"Params (K)":"124","E2E (ms)":"5.01"}. This record does not assert independent reproduction. ### EdgeVTPTF ADE (Avg): 1.89. Result ID: 69e730f847f34ce924cd4966. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Params (K)":"145.9","E2E (ms)":"4.30"}. This record does not assert independent reproduction. ### GSTAN ADE (Avg): 1.94. Result ID: 6a140df0fbc373592c0b5d90. [Reporting paper]() Recorded evaluation configuration: {"Prediction Horizon":"5s"}. This record does not assert independent reproduction. ### X-TRAJ ADE (Avg): 1.99. Result ID: 6a140df0fbc373592c0b5d87. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Prediction Horizon":"5s"}. This record does not assert independent reproduction. ### DeepTrack ADE (Avg): 2.01. Result ID: 69e730f847f34ce924cd4961. [Reporting paper]() Recorded evaluation configuration: {"Params (K)":"109"}. This record does not assert independent reproduction. ### VT-FormerSH ADE (Avg): 2.1. Result ID: 69e730f847f34ce924cd4964. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Params (K)":"132","E2E (ms)":"23.69"}. This record does not assert independent reproduction. ### X-TRACK ADE (Avg): 2.11. Result ID: 6a140df0fbc373592c0b5d86. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Prediction Horizon":"5s"}. This record does not assert independent reproduction. ### EdgeVTPLat ADE (Avg): 2.13. Result ID: 69e730f847f34ce924cd4965. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Params (K)":"134.5","E2E (ms)":"3.17"}. This record does not assert independent reproduction. ### VT-FormerMH ADE (Avg): 2.24. Result ID: 69e730f847f34ce924cd4963. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Params (K)":"141","E2E (ms)":"26.86"}. This record does not assert independent reproduction. ### GFTNNv2 ADE (Avg): 2.26. Result ID: 6a140df0fbc373592c0b5d8e. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Prediction Horizon":"5s"}. This record does not assert independent reproduction. ### CS-LSTM ADE (Avg): 2.29. Result ID: 69e730f847f34ce924cd495f. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Params (K)":"191","E2E (ms)":"3.61"}. This record does not assert independent reproduction. ### iNATran ADE (Avg): 2.43. Result ID: 6a140df0fbc373592c0b5d8d. [Reporting paper]() Recorded evaluation configuration: {"Prediction Horizon":"5s"}. This record does not assert independent reproduction. ### Pishgu ADE (Avg): 2.44. Result ID: 69e730f847f34ce924cd495c. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Params (K)":"132","E2E (ms)":"3.50"}. This record does not assert independent reproduction. ### VT-FormerLH ADE (Avg): 2.53. Result ID: 69e730f847f34ce924cd4962. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Params (K)":"155","E2E (ms)":"31.69"}. This record does not assert independent reproduction. ### MHA-LSTM ADE (Avg): 2.54. Result ID: 6a140df0fbc373592c0b5d8a. [Reporting paper]() Recorded evaluation configuration: {"Prediction Horizon":"5s"}. This record does not assert independent reproduction. ### HSTA ADE (Avg): 2.54. Result ID: 6a140df0fbc373592c0b5d8c. [Reporting paper]() Recorded evaluation configuration: {"Prediction Horizon":"5s"}. This record does not assert independent reproduction. ### CS-LSTM ADE (Avg): 2.69. Result ID: 6a140df0fbc373592c0b5d88. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Prediction Horizon":"5s"}. This record does not assert independent reproduction. ### RA-GAT ADE (Avg): 2.7. Result ID: 6a140df0fbc373592c0b5d8b. [Reporting paper]() Recorded evaluation configuration: {"Prediction Horizon":"5s"}. This record does not assert independent reproduction. ### Two Channel ADE (Avg): 2.89. Result ID: 6a140df0fbc373592c0b5d89. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Prediction Horizon":"5s"}. This record does not assert independent reproduction. ### cVMD ADE (Avg): 3.02. Result ID: 6a140df0fbc373592c0b5d8f. [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.