# Trajectory Prediction on NGSIM (RMSE Horizons) Source: [Trajectory Prediction on NGSIM (RMSE Horizons)]() Collection index: [llms.txt]() Data updated: 2026-05-25T08:53:30.198Z Evaluation of trajectory prediction models on the NGSIM dataset, assessed using Root Mean Square Error (RMSE) across prediction horizons 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) | NGSIM | | Metric | RMSE (1s) | | Unit | SCALAR | | Direction | Lower is better | | Results loaded | 18 of 18 | | 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 - [RMSE (1s)](): Lower is better; unit: SCALAR. - [RMSE (2s)](): Lower is better; unit: SCALAR. - [RMSE (3s)](): Lower is better; unit: SCALAR. - [RMSE (4s)](): Lower is better; unit: SCALAR. - [RMSE (5s)](): Lower is better; unit: SCALAR. - [Average RMSE](): Lower is better; unit: SCALAR. ## Recorded results | Method | RMSE (1s) | Result date | Report paper | | --- | --- | --- | --- | | MAVEN-T | 0.3 | Not recorded | 69ddca327d0172140ec79b13 | | C2F-TP | 0.32 | Not recorded | 69ddca327d0172140ec79b13 | | STDAN | 0.42 | Not recorded | 69ddca327d0172140ec79b13 | | WSiP | 0.56 | Not recorded | 69ddca327d0172140ec79b13 | | CS-LSTM | 0.58 | Not recorded | 69ddca327d0172140ec79b13 | | S-LSTM | 0.59 | Not recorded | 69ddca327d0172140ec79b13 | | V-LSTM | 0.68 | Not recorded | 69ddca327d0172140ec79b13 | | X-TRACK | 0.68 | Not recorded | 690988793ef7ccd74e5e5abb | | X-TRAJ | 0.73 | Not recorded | 690988793ef7ccd74e5e5abb | | GSTAN | 0.89 | Not recorded | 690988793ef7ccd74e5e5abb | | cVMD | 0.92 | Not recorded | 690988793ef7ccd74e5e5abb | | HSTA | 0.97 | Not recorded | 690988793ef7ccd74e5e5abb | | GFTNNv2 | 0.99 | Not recorded | 690988793ef7ccd74e5e5abb | | CS-LSTM | 1.17 | Not recorded | 690988793ef7ccd74e5e5abb | | MHA-LSTM | 1.17 | Not recorded | 690988793ef7ccd74e5e5abb | | iNATran | 1.2 | Not recorded | 690988793ef7ccd74e5e5abb | | Two Channel | 1.23 | Not recorded | 690988793ef7ccd74e5e5abb | | RA-GAT | 1.24 | Not recorded | 690988793ef7ccd74e5e5abb | ### MAVEN-T RMSE (1s): 0.3. Result ID: 69ddfe7147f34ce924c57b9e. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### C2F-TP RMSE (1s): 0.32. Result ID: 69ddfe7147f34ce924c57b9d. [Reporting paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### STDAN RMSE (1s): 0.42. Result ID: 69ddfe7147f34ce924c57b9b. [Reporting paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### WSiP RMSE (1s): 0.56. Result ID: 69ddfe7147f34ce924c57b9c. [Reporting paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### CS-LSTM RMSE (1s): 0.58. Result ID: 69ddfe7147f34ce924c57b9a. [Reporting paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### S-LSTM RMSE (1s): 0.59. Result ID: 69ddfe7147f34ce924c57b99. [Reporting paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### V-LSTM RMSE (1s): 0.68. Result ID: 69ddfe7147f34ce924c57b98. [Reporting paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### X-TRACK RMSE (1s): 0.68. Result ID: 6a140df0fbc373592c0b5d70. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Architecture":"X-TRACK"}. This record does not assert independent reproduction. ### X-TRAJ RMSE (1s): 0.73. Result ID: 6a140df0fbc373592c0b5d71. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Architecture":"X-TRAJ"}. This record does not assert independent reproduction. ### GSTAN RMSE (1s): 0.89. Result ID: 6a140df0fbc373592c0b5d7a. [Reporting paper]() Recorded evaluation configuration: {"Architecture":"GSTAN"}. This record does not assert independent reproduction. ### cVMD RMSE (1s): 0.92. Result ID: 6a140df0fbc373592c0b5d79. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Architecture":"cVMD"}. This record does not assert independent reproduction. ### HSTA RMSE (1s): 0.97. Result ID: 6a140df0fbc373592c0b5d76. [Reporting paper]() Recorded evaluation configuration: {"Architecture":"HSTA"}. This record does not assert independent reproduction. ### GFTNNv2 RMSE (1s): 0.99. Result ID: 6a140df0fbc373592c0b5d78. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Architecture":"GFTNNv2"}. This record does not assert independent reproduction. ### CS-LSTM RMSE (1s): 1.17. Result ID: 6a140df0fbc373592c0b5d72. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Architecture":"CS-LSTM"}. This record does not assert independent reproduction. ### MHA-LSTM RMSE (1s): 1.17. Result ID: 6a140df0fbc373592c0b5d74. [Reporting paper]() Recorded evaluation configuration: {"Architecture":"MHA-LSTM"}. This record does not assert independent reproduction. ### iNATran RMSE (1s): 1.2. Result ID: 6a140df0fbc373592c0b5d77. [Reporting paper]() Recorded evaluation configuration: {"Architecture":"iNATran"}. This record does not assert independent reproduction. ### Two Channel RMSE (1s): 1.23. Result ID: 6a140df0fbc373592c0b5d73. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Architecture":"Two Channel"}. This record does not assert independent reproduction. ### RA-GAT RMSE (1s): 1.24. Result ID: 6a140df0fbc373592c0b5d75. [Reporting paper]() Recorded evaluation configuration: {"Architecture":"RA-GAT"}. This record does not assert independent reproduction. Page 1 of 1. This is an index page, not the full collection.