# Trajectory Prediction on SACSoN

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

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

Data updated: 2026-03-11T08:22:59.306Z

Evaluation of trajectory prediction models on the SACSoN dataset, assessed using Average Trajectory Error (ATE) and Rate of Position Error (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) | SACSoN |
| Metric | ATE |
| 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

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

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

## Recorded results

| Method | ATE | Result date | Report paper |
| --- | --- | --- | --- |
| RAE-NWM | 2.91 | Not recorded | 69b0f7232d603e6de3e45e7e |
| GNM | 3.71 | Not recorded | 69b0f7232d603e6de3e45e7e |
| NoMaD | 3.73 | Not recorded | 69b0f7232d603e6de3e45e7e |
| NWM | 4.12 | Not recorded | 69b0f7232d603e6de3e45e7e |

### RAE-NWM

ATE: 2.91. Result ID: 69b126486dbb7075b95b7b03.

[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.

### GNM

ATE: 3.71. Result ID: 69b126486dbb7075b95b7b00.

[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.

### NoMaD

ATE: 3.73. Result ID: 69b126486dbb7075b95b7b01.

[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.

### NWM

ATE: 4.12. Result ID: 69b126486dbb7075b95b7b02.

[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.

Page 1 of 1. This is an index page, not the full collection.