# Trajectory Prediction on Stanford Drone (test) Source: [Trajectory Prediction on Stanford Drone (test)]() Collection index: [llms.txt]() Data updated: 2026-02-26T06:11:05.177Z Evaluation of trajectory prediction models on the test split of the Stanford Drone dataset, utilizing time-specific error metrics (Error at 1.0s, 2.0s, etc.) and CLL. 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) | Stanford Drone (test) | | Metric | minADE (20) | | Unit | SCALAR | | Direction | Lower is better | | Results loaded | 43 of 43 | | 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 - [minADE (20)](): Lower is better; unit: SCALAR. - [Error (1.0s)](): Lower is better; unit: SCALAR. - [Error (2.0s)](): Lower is better; unit: SCALAR. - [Error (3.0s)](): Lower is better; unit: SCALAR. - [Error (4.0s)](): Lower is better; unit: SCALAR. - [CLL](): Higher is better; unit: SCALAR. - [minFDE (20)](): Lower is better; unit: SCALAR. - [ADE](): Lower is better; unit: SCALAR. - [FDE](): Lower is better; unit: SCALAR. ## Recorded results | Method | minADE (20) | Result date | Report paper | | --- | --- | --- | --- | | MemoNet | 8.56 | Not recorded | 68fa6c0d1e209131cea31b3d | | MANTRA | 8.96 | Not recorded | 68fa6c0d1e209131cea31b3d | | PECNet | 9.96 | Not recorded | 68fa6c0d1e209131cea31b3d | | SimAug\* | 10.27 | Not recorded | 68fa67f11e209131cea1942c | | SimAug | 12.03 | Not recorded | 68fa67f11e209131cea1942c | | P2TIRL | 12.58 | Not recorded | 68fa67f11e209131cea1942c | | CF-VAE | 12.6 | Not recorded | 68fa6c0d1e209131cea31b3d | | EvolveGraph | 13.9 | Not recorded | 68fa6c0d1e209131cea31b3d | | IDL | 13.93 | Not recorded | 68fa67f11e209131cea1942c | | NMMP | 14.67 | Not recorded | 68fa6c0d1e209131cea31b3d | | Multiverse | 14.78 | Not recorded | 68fa67f11e209131cea1942c | | SoPhie | 16.27 | Not recorded | 68fa67f11e209131cea1942c | | SOPHIE | 16.27 | Not recorded | 68fa6c0d1e209131cea31b3d | | DESIRE | 19.25 | Not recorded | 68fa67f11e209131cea1942c | | Trajectron++ | 19.3 | Not recorded | 68fa6c0d1e209131cea31b3d | | Social STGCNN | 20.6 | Not recorded | 68fa6c0d1e209131cea31b3d | | Social-GAN | 27.23 | Not recorded | 68fa6c0d1e209131cea31b3d | | Social-GAN | 27.25 | Not recorded | 68fa67f11e209131cea1942c | | Social-LSTM | 31.19 | Not recorded | 68fa67f11e209131cea1942c | ### MemoNet minADE (20): 8.56. Result ID: 698ebd84ffc3901de0a03ef4. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Time":"4.8s"}. This record does not assert independent reproduction. ### MANTRA minADE (20): 8.96. Result ID: 698ebd84ffc3901de0a03ef2. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Time":"4.8s"}. This record does not assert independent reproduction. ### PECNet minADE (20): 9.96. Result ID: 698ebd84ffc3901de0a03ef3. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Time":"4.8s"}. This record does not assert independent reproduction. ### SimAug\* minADE (20): 10.27. Result ID: 698d4d1a8b517eb433207b01. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"training\_data":"fine-tuned on real training videos"}. This record does not assert independent reproduction. ### SimAug minADE (20): 12.03. Result ID: 698d4d1a8b517eb433207b00. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"training\_data":"simulation only"}. This record does not assert independent reproduction. ### P2TIRL minADE (20): 12.58. Result ID: 698d4d1a8b517eb433207aff. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"training\_data":"real videos"}. This record does not assert independent reproduction. ### CF-VAE minADE (20): 12.6. Result ID: 698ebd84ffc3901de0a03ef1. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Time":"4.8s"}. This record does not assert independent reproduction. ### EvolveGraph minADE (20): 13.9. Result ID: 698ebd84ffc3901de0a03ef0. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Time":"4.8s"}. This record does not assert independent reproduction. ### IDL minADE (20): 13.93. Result ID: 698d4d1a8b517eb433207afe. [Reporting paper]() Recorded evaluation configuration: {"training\_data":"real videos"}. This record does not assert independent reproduction. ### NMMP minADE (20): 14.67. Result ID: 698ebd84ffc3901de0a03eef. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Time":"4.8s"}. This record does not assert independent reproduction. ### Multiverse minADE (20): 14.78. Result ID: 698d4d1a8b517eb433207afd. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"training\_data":"real videos"}. This record does not assert independent reproduction. ### SoPhie minADE (20): 16.27. Result ID: 698d4d1a8b517eb433207afc. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"training\_data":"real videos"}. This record does not assert independent reproduction. ### SOPHIE minADE (20): 16.27. Result ID: 698ebd84ffc3901de0a03eee. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Time":"4.8s"}. This record does not assert independent reproduction. ### DESIRE minADE (20): 19.25. Result ID: 698d4d1a8b517eb433207afb. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"training\_data":"real videos"}. This record does not assert independent reproduction. ### Trajectron++ minADE (20): 19.3. Result ID: 698ebd84ffc3901de0a03eed. [Reporting paper]() Recorded evaluation configuration: {"Time":"4.8s"}. This record does not assert independent reproduction. ### Social STGCNN minADE (20): 20.6. Result ID: 698ebd84ffc3901de0a03eec. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Time":"4.8s"}. This record does not assert independent reproduction. ### Social-GAN minADE (20): 27.23. Result ID: 698ebd84ffc3901de0a03eeb. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Time":"4.8s"}. This record does not assert independent reproduction. ### Social-GAN minADE (20): 27.25. Result ID: 698d4d1a8b517eb433207afa. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"training\_data":"real videos"}. This record does not assert independent reproduction. ### Social-LSTM minADE (20): 31.19. Result ID: 698d4d1a8b517eb433207af9. [Reporting paper]() Recorded evaluation configuration: {"training\_data":"real videos"}. This record does not assert independent reproduction. Page 1 of 1. This is an index page, not the full collection.