# Trajectory Prediction on SCAND

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

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

Data updated: 2026-06-30T09:16:24.075Z

Evaluation of trajectory prediction models on the SCAND dataset, assessed using Absolute Trajectory Error (ATE) and Relative Pose 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) | SCAND |
| 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-scand.md?metric=ATE>): Lower is better; unit: SCALAR.

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

## Recorded results

| Method | ATE | Result date | Report paper |
| --- | --- | --- | --- |
| RAE-NWM | 1.14 | Not recorded | 69b0f7232d603e6de3e45e7e |
| SWAM | 1.15 | Not recorded | 6a434da1ba73165dbb743df0 |
| NWM | 1.28 | Not recorded | 69b0f7232d603e6de3e45e7e |
| GNM | 2.12 | Not recorded | 69b0f7232d603e6de3e45e7e |
| GNM | 2.18 | Not recorded | 6a434da1ba73165dbb743df0 |
| NWM+NoMaD | 2.18 | Not recorded | 6a434da1ba73165dbb743df0 |
| NoMaD | 2.24 | Not recorded | 69b0f7232d603e6de3e45e7e |
| CogVideoX | 2.25 | Not recorded | 6a434da1ba73165dbb743df0 |
| NoMaD | 2.36 | Not recorded | 6a434da1ba73165dbb743df0 |
| NWM+NoMaD | 2.37 | Not recorded | 6a434da1ba73165dbb743df0 |
| NWM+NoMaD | 2.41 | Not recorded | 6a434da1ba73165dbb743df0 |
| NWM+NoMaD | 2.42 | Not recorded | 6a434da1ba73165dbb743df0 |

### RAE-NWM

ATE: 1.14. Result ID: 69b126486dbb7075b95b7b0b.

[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.

### SWAM

ATE: 1.15. Result ID: 6a43894dfbc373592c9561e5.

[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: 1.28. Result ID: 69b126486dbb7075b95b7b0a.

[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.

### GNM

ATE: 2.12. Result ID: 69b126486dbb7075b95b7b08.

[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.

### GNM

ATE: 2.18. Result ID: 6a43894dfbc373592c9561de.

[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.

### NWM+NoMaD

ATE: 2.18. Result ID: 6a43894dfbc373592c9561e3.

[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.

### NoMaD

ATE: 2.24. Result ID: 69b126486dbb7075b95b7b09.

[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: 2.25. Result ID: 6a43894dfbc373592c9561e4.

[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.

### NoMaD

ATE: 2.36. Result ID: 6a43894dfbc373592c9561df.

[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.

### NWM+NoMaD

ATE: 2.37. Result ID: 6a43894dfbc373592c9561e2.

[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: 2.41. Result ID: 6a43894dfbc373592c9561e0.

[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.

### NWM+NoMaD

ATE: 2.42. Result ID: 6a43894dfbc373592c9561e1.

[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.

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