# Trajectory Prediction on OPV2V Vehicle 1 (val) Source: [Trajectory Prediction on OPV2V Vehicle 1 (val)]() Collection index: [llms.txt]() Data updated: 2026-04-28T07:20:16.435Z Evaluation of trajectory prediction models on the validation split of the OPV2V Vehicle 1 dataset, assessed using ADE, FDE, MR, and TSR0.5. 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) | OPV2V Vehicle 1 (val) | | Metric | ADE | | 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 - [ADE](): Lower is better; unit: SCALAR. - [FDE](): Lower is better; unit: SCALAR. - [MR](): Lower is better; unit: PERCENT. - [TSR@0.5](): Higher is better; unit: PERCENT. ## Recorded results | Method | ADE | Result date | Report paper | | --- | --- | --- | --- | | No fusion (lstm12) | 0.688 | Not recorded | 69f03f1455a3c32af89fa057 | | No fusion (tr12) | 0.694 | Not recorded | 69f03f1455a3c32af89fa057 | | Late Fusion (lstm12:lstm12) | 0.708 | Not recorded | 69f03f1455a3c32af89fa057 | | No fusion (lstm12) | 0.711 | Not recorded | 69f03f1455a3c32af89fa057 | | Late Fusion (lstm12:lstm23) | 0.712 | Not recorded | 69f03f1455a3c32af89fa057 | | Late Fusion (lstm12:tr12) | 0.714 | Not recorded | 69f03f1455a3c32af89fa057 | | Late Fusion (tr12:lstm12) | 0.763 | Not recorded | 69f03f1455a3c32af89fa057 | | Late Fusion (tr12:tr12) | 0.77 | Not recorded | 69f03f1455a3c32af89fa057 | | No fusion (tr12) | 0.773 | Not recorded | 69f03f1455a3c32af89fa057 | | Late Fusion (tr12:tr23) | 0.776 | Not recorded | 69f03f1455a3c32af89fa057 | | No fusion (lstm23) | 1.12 | Not recorded | 69f03f1455a3c32af89fa057 | | Late Fusion (lstm23:lstm23) | 1.176 | Not recorded | 69f03f1455a3c32af89fa057 | | No fusion (lstm23) | 1.181 | Not recorded | 69f03f1455a3c32af89fa057 | | Late Fusion (lstm23:lstm12) | 1.195 | Not recorded | 69f03f1455a3c32af89fa057 | | No fusion (tr23) | 1.348 | Not recorded | 69f03f1455a3c32af89fa057 | | Late Fusion (tr23:tr23) | 1.514 | Not recorded | 69f03f1455a3c32af89fa057 | | Late Fusion (tr23:tr12) | 1.517 | Not recorded | 69f03f1455a3c32af89fa057 | | No fusion (tr23) | 1.53 | Not recorded | 69f03f1455a3c32af89fa057 | ### No fusion (lstm12) ADE: 0.688. Result ID: 69f05ed547f34ce924d5ccee. [Reporting paper]() Recorded evaluation configuration: {"Occlusion":"w/o Occ.","Predictor":"LSTM","Horizon":"2s"}. This record does not assert independent reproduction. ### No fusion (tr12) ADE: 0.694. Result ID: 69f05ed547f34ce924d5cce5. [Reporting paper]() Recorded evaluation configuration: {"Occlusion":"w/o Occ.","History":"1s","Horizon":"2s","Predictor":"Transformer"}. This record does not assert independent reproduction. ### Late Fusion (lstm12:lstm12) ADE: 0.708. Result ID: 69f05ed547f34ce924d5ccf0. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Ego Predictor":"lstm12","Collaborator Predictor":"lstm12"}. This record does not assert independent reproduction. ### No fusion (lstm12) ADE: 0.711. Result ID: 69f05ed547f34ce924d5ccef. [Reporting paper]() Recorded evaluation configuration: {"Occlusion":"under Occ.","Predictor":"LSTM","Horizon":"2s"}. This record does not assert independent reproduction. ### Late Fusion (lstm12:lstm23) ADE: 0.712. Result ID: 69f05ed547f34ce924d5ccf2. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Ego Predictor":"lstm12","Collaborator Predictor":"lstm23"}. This record does not assert independent reproduction. ### Late Fusion (lstm12:tr12) ADE: 0.714. Result ID: 69f05ed547f34ce924d5ccf1. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Ego Predictor":"lstm12","Collaborator Predictor":"tr12"}. This record does not assert independent reproduction. ### Late Fusion (tr12:lstm12) ADE: 0.763. Result ID: 69f05ed547f34ce924d5cce8. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Ego Predictor":"tr12","Collaborator Predictor":"lstm12","Occlusion":"under Occ."}. This record does not assert independent reproduction. ### Late Fusion (tr12:tr12) ADE: 0.77. Result ID: 69f05ed547f34ce924d5cce7. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Ego Predictor":"tr12","Collaborator Predictor":"tr12","Occlusion":"under Occ."}. This record does not assert independent reproduction. ### No fusion (tr12) ADE: 0.773. Result ID: 69f05ed547f34ce924d5cce6. [Reporting paper]() Recorded evaluation configuration: {"Occlusion":"under Occ.","History":"1s","Horizon":"2s","Predictor":"Transformer"}. This record does not assert independent reproduction. ### Late Fusion (tr12:tr23) ADE: 0.776. Result ID: 69f05ed547f34ce924d5cce9. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Ego Predictor":"tr12","Collaborator Predictor":"tr23","Occlusion":"under Occ."}. This record does not assert independent reproduction. ### No fusion (lstm23) ADE: 1.12. Result ID: 69f05ed547f34ce924d5ccf3. [Reporting paper]() Recorded evaluation configuration: {"Occlusion":"w/o Occ.","Predictor":"LSTM","Horizon":"3s"}. This record does not assert independent reproduction. ### Late Fusion (lstm23:lstm23) ADE: 1.176. Result ID: 69f05ed547f34ce924d5ccf6. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Ego Predictor":"lstm23","Collaborator Predictor":"lstm23"}. This record does not assert independent reproduction. ### No fusion (lstm23) ADE: 1.181. Result ID: 69f05ed547f34ce924d5ccf4. [Reporting paper]() Recorded evaluation configuration: {"Occlusion":"under Occ.","Predictor":"LSTM","Horizon":"3s"}. This record does not assert independent reproduction. ### Late Fusion (lstm23:lstm12) ADE: 1.195. Result ID: 69f05ed547f34ce924d5ccf5. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Ego Predictor":"lstm23","Collaborator Predictor":"lstm12"}. This record does not assert independent reproduction. ### No fusion (tr23) ADE: 1.348. Result ID: 69f05ed547f34ce924d5ccea. [Reporting paper]() Recorded evaluation configuration: {"Occlusion":"w/o Occ.","History":"2s","Horizon":"3s","Predictor":"Transformer"}. This record does not assert independent reproduction. ### Late Fusion (tr23:tr23) ADE: 1.514. Result ID: 69f05ed547f34ce924d5cced. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Ego Predictor":"tr23","Collaborator Predictor":"tr23","Occlusion":"under Occ."}. This record does not assert independent reproduction. ### Late Fusion (tr23:tr12) ADE: 1.517. Result ID: 69f05ed547f34ce924d5ccec. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Ego Predictor":"tr23","Collaborator Predictor":"tr12","Occlusion":"under Occ."}. This record does not assert independent reproduction. ### No fusion (tr23) ADE: 1.53. Result ID: 69f05ed547f34ce924d5cceb. [Reporting paper]() Recorded evaluation configuration: {"Occlusion":"under Occ.","History":"2s","Horizon":"3s","Predictor":"Transformer"}. 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