# Trajectory Prediction on nuScenes (test) Source: [Trajectory Prediction on nuScenes (test)]() Collection index: [llms.txt]() Data updated: 2026-02-26T05:52:50.875Z Evaluation of trajectory prediction models on the test split of the nuScenes dataset, typically assessed using Best of N prediction metrics and Kernel Density Estimation Negative Log-Likelihood (KDE NLL) across various prediction horizons. 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) | nuScenes (test) | | Metric | Min Displacement Error (1s) | | Unit | SCALAR | | Direction | Lower is better | | Results loaded | 10 of 10 | | 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 - [Min Displacement Error (1s)](): Lower is better; unit: SCALAR. - [Min Displacement Error (2s)](): Lower is better; unit: SCALAR. - [Min Displacement Error (3s)](): Lower is better; unit: SCALAR. - [KDE NLL (1s)](): Lower is better; unit: SCALAR. - [KDE NLL (2s)](): Lower is better; unit: SCALAR. - [KDE NLL (3s)](): Lower is better; unit: SCALAR. ## Recorded results | Method | Min Displacement Error (1s) | Result date | Report paper | | --- | --- | --- | --- | | Trajectron++ | 0.01 | Not recorded | 68fa6a381e209131cea26aeb | | Trajectron++ | 0.01 | Not recorded | 68fa6a381e209131cea26aeb | | β-cVAE | 0.01 | Not recorded | 68fa6a381e209131cea26aeb | | Joint-β-cVAE | 0.01 | Not recorded | 68fa6a381e209131cea26aeb | | Joint-β-cVAE | 0.01 | Not recorded | 68fa6a381e209131cea26aeb | | Social-GAN | 0.04 | Not recorded | 68fa6a381e209131cea26aeb | | Social-GAN | 0.04 | Not recorded | 68fa6a381e209131cea26aeb | | Sophie | 0.04 | Not recorded | 68fa6a381e209131cea26aeb | | Sophie | 0.04 | Not recorded | 68fa6a381e209131cea26aeb | | cVAE | 0.05 | Not recorded | 68fa6a381e209131cea26aeb | ### Trajectron++ Min Displacement Error (1s): 0.01. Result ID: 698e1ec8ffc3901de09af080. [Reporting paper]() Recorded evaluation configuration: {"P-P interaction modeled":true,"P-V interaction modeled":false}. This record does not assert independent reproduction. ### Trajectron++ Min Displacement Error (1s): 0.01. Result ID: 698e1ec8ffc3901de09af081. [Reporting paper]() Recorded evaluation configuration: {"P-P interaction modeled":true,"P-V interaction modeled":true}. This record does not assert independent reproduction. ### β-cVAE Min Displacement Error (1s): 0.01. Result ID: 698e1ec8ffc3901de09af083. [Reporting paper]() Recorded evaluation configuration: {"P-P interaction modeled":false,"P-V interaction modeled":false}. This record does not assert independent reproduction. ### Joint-β-cVAE Min Displacement Error (1s): 0.01. Result ID: 698e1ec8ffc3901de09af084. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"P-P interaction modeled":true,"P-V interaction modeled":false}. This record does not assert independent reproduction. ### Joint-β-cVAE Min Displacement Error (1s): 0.01. Result ID: 698e1ec8ffc3901de09af085. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"P-P interaction modeled":true,"P-V interaction modeled":true}. This record does not assert independent reproduction. ### Social-GAN Min Displacement Error (1s): 0.04. Result ID: 698e1ec8ffc3901de09af07c. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"P-P interaction modeled":true,"P-V interaction modeled":false}. This record does not assert independent reproduction. ### Social-GAN Min Displacement Error (1s): 0.04. Result ID: 698e1ec8ffc3901de09af07d. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"P-P interaction modeled":true,"P-V interaction modeled":true}. This record does not assert independent reproduction. ### Sophie Min Displacement Error (1s): 0.04. Result ID: 698e1ec8ffc3901de09af07e. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"P-P interaction modeled":true,"P-V interaction modeled":false}. This record does not assert independent reproduction. ### Sophie Min Displacement Error (1s): 0.04. Result ID: 698e1ec8ffc3901de09af07f. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"P-P interaction modeled":true,"P-V interaction modeled":true}. This record does not assert independent reproduction. ### cVAE Min Displacement Error (1s): 0.05. Result ID: 698e1ec8ffc3901de09af082. [Reporting paper]() Recorded evaluation configuration: {"P-P interaction modeled":false,"P-V interaction modeled":false}. This record does not assert independent reproduction. Page 1 of 1. This is an index page, not the full collection.