# Trajectory Prediction on RECON

Source: [Trajectory Prediction on RECON](<https://www.sota2.com/research/sota/trajectory-prediction-on-recon>)

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

Data updated: 2026-06-30T09:16:24.054Z

Evaluation of trajectory prediction models on the RECON dataset, assessed using ATE and RPE.

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) | RECON |
| Metric | ATE |
| Unit | SCALAR |
| Direction | Lower is better |
| Results loaded | 12 of 12 |
| 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

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

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

## Recorded results

| Method | ATE | Result date | Report paper |
| --- | --- | --- | --- |
| SWAM | 0.93 | Not recorded | 6a434da1ba73165dbb743df0 |
| NWM | 1.13 | Not recorded | 69b0f7232d603e6de3e45e7e |
| RAE-NWM | 1.36 | Not recorded | 69b0f7232d603e6de3e45e7e |
| NWM+NoMaD | 1.53 | Not recorded | 6a434da1ba73165dbb743df0 |
| NWM+NoMaD | 1.74 | Not recorded | 6a434da1ba73165dbb743df0 |
| NWM+NoMaD | 1.82 | Not recorded | 6a434da1ba73165dbb743df0 |
| GNM | 1.85 | Not recorded | 6a434da1ba73165dbb743df0 |
| GNM | 1.87 | Not recorded | 69b0f7232d603e6de3e45e7e |
| NWM+NoMaD | 1.87 | Not recorded | 6a434da1ba73165dbb743df0 |
| NoMaD | 1.9 | Not recorded | 6a434da1ba73165dbb743df0 |
| NoMaD | 1.95 | Not recorded | 69b0f7232d603e6de3e45e7e |
| CogVideoX | 2.09 | Not recorded | 6a434da1ba73165dbb743df0 |

### SWAM

ATE: 0.93. Result ID: 6a43894dfbc373592c9561dd.

[Reporting paper](<https://www.sota2.com/research/paper/6a434da1ba73165dbb743df0.md>)

[Method origin paper](<https://www.sota2.com/research/paper/6a434da1ba73165dbb743df0.md>)

Recorded evaluation configuration: {"Time(s)":"16.91"}. This record does not assert independent reproduction.

### NWM

ATE: 1.13. Result ID: 69b126486dbb7075b95b7b06.

[Reporting paper](<https://www.sota2.com/research/paper/69b0f7232d603e6de3e45e7e.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa77ea1e209131cea75f91.md>)

[Implementation](<https://amirbar.net/nwm>)

Recorded evaluation configuration: {"prediction horizon":"2 seconds"}. This record does not assert independent reproduction.

### RAE-NWM

ATE: 1.36. Result ID: 69b126486dbb7075b95b7b07.

[Reporting paper](<https://www.sota2.com/research/paper/69b0f7232d603e6de3e45e7e.md>)

[Method origin paper](<https://www.sota2.com/research/paper/69b0f7232d603e6de3e45e7e.md>)

Recorded evaluation configuration: {"prediction horizon":"2 seconds"}. This record does not assert independent reproduction.

### NWM+NoMaD

ATE: 1.53. Result ID: 6a43894dfbc373592c9561db.

[Reporting paper](<https://www.sota2.com/research/paper/6a434da1ba73165dbb743df0.md>)

Recorded evaluation configuration: {"rollout":"x16","Time(s)":"245.98"}. This record does not assert independent reproduction.

### NWM+NoMaD

ATE: 1.74. Result ID: 6a43894dfbc373592c9561da.

[Reporting paper](<https://www.sota2.com/research/paper/6a434da1ba73165dbb743df0.md>)

Recorded evaluation configuration: {"rollout":"x8","Time(s)":"118.32"}. This record does not assert independent reproduction.

### NWM+NoMaD

ATE: 1.82. Result ID: 6a43894dfbc373592c9561d9.

[Reporting paper](<https://www.sota2.com/research/paper/6a434da1ba73165dbb743df0.md>)

Recorded evaluation configuration: {"rollout":"x4","Time(s)":"63.83"}. This record does not assert independent reproduction.

### GNM

ATE: 1.85. Result ID: 6a43894dfbc373592c9561d6.

[Reporting paper](<https://www.sota2.com/research/paper/6a434da1ba73165dbb743df0.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6f721e209131cea45a33.md>)

Recorded evaluation configuration: {"Time(s)":"0.12"}. This record does not assert independent reproduction.

### GNM

ATE: 1.87. Result ID: 69b126486dbb7075b95b7b04.

[Reporting paper](<https://www.sota2.com/research/paper/69b0f7232d603e6de3e45e7e.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6f721e209131cea45a33.md>)

Recorded evaluation configuration: {"prediction horizon":"2 seconds"}. This record does not assert independent reproduction.

### NWM+NoMaD

ATE: 1.87. Result ID: 6a43894dfbc373592c9561d8.

[Reporting paper](<https://www.sota2.com/research/paper/6a434da1ba73165dbb743df0.md>)

Recorded evaluation configuration: {"rollout":"x2","Time(s)":"31.37"}. This record does not assert independent reproduction.

### NoMaD

ATE: 1.9. Result ID: 6a43894dfbc373592c9561d7.

[Reporting paper](<https://www.sota2.com/research/paper/6a434da1ba73165dbb743df0.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa70da1e209131cea4db31.md>)

Recorded evaluation configuration: {"Time(s)":"0.21"}. This record does not assert independent reproduction.

### NoMaD

ATE: 1.95. Result ID: 69b126486dbb7075b95b7b05.

[Reporting paper](<https://www.sota2.com/research/paper/69b0f7232d603e6de3e45e7e.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa70da1e209131cea4db31.md>)

Recorded evaluation configuration: {"prediction horizon":"2 seconds"}. This record does not assert independent reproduction.

### CogVideoX

ATE: 2.09. Result ID: 6a43894dfbc373592c9561dc.

[Reporting paper](<https://www.sota2.com/research/paper/6a434da1ba73165dbb743df0.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa77a01e209131cea74741.md>)

Recorded evaluation configuration: {"mode":"Joint","Time(s)":"14.12"}. This record does not assert independent reproduction.

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