# Trajectory Prediction on OPV2V Vehicle 2 (test)

Source: [Trajectory Prediction on OPV2V Vehicle 2 (test)](<https://www.sota2.com/research/sota/trajectory-prediction-on-opv2v-vehicle-2-test>)

Collection index: [llms.txt](<https://www.sota2.com/research/llms.txt>)

Data updated: 2026-04-28T07:20:16.542Z

Evaluation of trajectory prediction models on the test split of the OPV2V Vehicle 2 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 2 (test) |
| Metric | ADE |
| Unit | SCALAR |
| Direction | Lower is better |
| Results loaded | 4 of 4 |
| 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](<https://www.sota2.com/research/sota/trajectory-prediction-on-opv2v-vehicle-2-test.md?metric=ADE>): Lower is better; unit: SCALAR.

- [FDE](<https://www.sota2.com/research/sota/trajectory-prediction-on-opv2v-vehicle-2-test.md?metric=FDE>): Lower is better; unit: SCALAR.

- [MR](<https://www.sota2.com/research/sota/trajectory-prediction-on-opv2v-vehicle-2-test.md?metric=MR>): Lower is better; unit: PERCENT.

- [TSR (0.5)](<https://www.sota2.com/research/sota/trajectory-prediction-on-opv2v-vehicle-2-test.md?metric=TSR%20(0.5)>): Higher is better; unit: PERCENT.

## Recorded results

| Method | ADE | Result date | Report paper |
| --- | --- | --- | --- |
| Late Fusion (lstm12:lstm12) | 0.899 | Not recorded | 69f03f1455a3c32af89fa057 |
| No fusion (tr12) | 1.175 | Not recorded | 69f03f1455a3c32af89fa057 |
| Late Fusion (tr12:tr12) | 1.271 | Not recorded | 69f03f1455a3c32af89fa057 |
| Late Fusion (lstm23:lstm23) | 1.522 | Not recorded | 69f03f1455a3c32af89fa057 |

### Late Fusion (lstm12:lstm12)

ADE: 0.899. Result ID: 69f05ed547f34ce924d5cd00.

[Reporting paper](<https://www.sota2.com/research/paper/69f03f1455a3c32af89fa057.md>)

[Method origin paper](<https://www.sota2.com/research/paper/69f03f1455a3c32af89fa057.md>)

Recorded evaluation configuration: {"Ego Predictor":"lstm12","Collaborator Predictor":"lstm12"}. This record does not assert independent reproduction.

### No fusion (tr12)

ADE: 1.175. Result ID: 69f05ed547f34ce924d5ccfe.

[Reporting paper](<https://www.sota2.com/research/paper/69f03f1455a3c32af89fa057.md>)

Recorded evaluation configuration: {"Occlusion":"w/o Occ."}. This record does not assert independent reproduction.

### Late Fusion (tr12:tr12)

ADE: 1.271. Result ID: 69f05ed547f34ce924d5ccff.

[Reporting paper](<https://www.sota2.com/research/paper/69f03f1455a3c32af89fa057.md>)

[Method origin paper](<https://www.sota2.com/research/paper/69f03f1455a3c32af89fa057.md>)

Recorded evaluation configuration: {"Ego Predictor":"tr12","Collaborator Predictor":"tr12"}. This record does not assert independent reproduction.

### Late Fusion (lstm23:lstm23)

ADE: 1.522. Result ID: 69f05ed547f34ce924d5cd01.

[Reporting paper](<https://www.sota2.com/research/paper/69f03f1455a3c32af89fa057.md>)

[Method origin paper](<https://www.sota2.com/research/paper/69f03f1455a3c32af89fa057.md>)

Recorded evaluation configuration: {"Ego Predictor":"lstm23","Collaborator Predictor":"lstm23"}. This record does not assert independent reproduction.

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