# Trajectory Prediction on V2V4Real (test)

Source: [Trajectory Prediction on V2V4Real (test)](<https://www.sota2.com/research/sota/trajectory-prediction-on-v2v4real-test>)

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

Data updated: 2026-04-28T07:20:16.389Z

Evaluation of trajectory prediction models on the test split of the V2V4Real 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) | V2V4Real (test) |
| Metric | ADE |
| Unit | SCALAR |
| Direction | Lower is better |
| Results loaded | 10 of 10 |
| 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-v2v4real-test.md?metric=ADE>): Lower is better; unit: SCALAR.

- [FDE](<https://www.sota2.com/research/sota/trajectory-prediction-on-v2v4real-test.md?metric=FDE>): Lower is better; unit: SCALAR.

- [MR](<https://www.sota2.com/research/sota/trajectory-prediction-on-v2v4real-test.md?metric=MR>): Lower is better; unit: PERCENT.

- [TSR@0.5](<https://www.sota2.com/research/sota/trajectory-prediction-on-v2v4real-test.md?metric=TSR%400.5>): Higher is better; unit: PERCENT.

## Recorded results

| Method | ADE | Result date | Report paper |
| --- | --- | --- | --- |
| Casting Ray -\> Tracker (ID asc.) | 1.408 | Not recorded | 69f03f1455a3c32af89fa057 |
| Casting Ray -\> Tracker (ID asc.) | 1.409 | Not recorded | 69f03f1455a3c32af89fa057 |
| Late Fusion Framework | 1.409 | Not recorded | 69f03f1455a3c32af89fa057 |
| Detector -\> Tracker | 1.462 | Not recorded | 69f03f1455a3c32af89fa057 |
| Late Fusion Framework | 1.478 | Not recorded | 69f03f1455a3c32af89fa057 |
| Late Fusion Framework | 1.517 | Not recorded | 69f03f1455a3c32af89fa057 |
| Individual Prediction | 1.524 | Not recorded | 69f03f1455a3c32af89fa057 |
| Individual Prediction | 1.617 | Not recorded | 69f03f1455a3c32af89fa057 |
| Individual Prediction | 1.636 | Not recorded | 69f03f1455a3c32af89fa057 |
| Late Fusion Framework | 1.638 | Not recorded | 69f03f1455a3c32af89fa057 |

### Casting Ray -\> Tracker (ID asc.)

ADE: 1.408. Result ID: 69f05ed547f34ce924d5cce0.

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

Recorded evaluation configuration: {"Setting":"w/o Occ.","Vehicle":"Vehicle 2"}. This record does not assert independent reproduction.

### Casting Ray -\> Tracker (ID asc.)

ADE: 1.409. Result ID: 69f05ed547f34ce924d5cce1.

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

Recorded evaluation configuration: {"Setting":"under Occ.","Vehicle":"Vehicle 2"}. This record does not assert independent reproduction.

### Late Fusion Framework

ADE: 1.409. Result ID: 69f05ed547f34ce924d5cce2.

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

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

Recorded evaluation configuration: {"Perception Setup":"Casting Ray -\> Tracker (ID asc.)","Setting":"Fusion","Vehicle":"Vehicle 2"}. This record does not assert independent reproduction.

### Detector -\> Tracker

ADE: 1.462. Result ID: 69f05ed547f34ce924d5cce3.

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

Recorded evaluation configuration: {"Setting":"Indiv","Vehicle":"Vehicle 2"}. This record does not assert independent reproduction.

### Late Fusion Framework

ADE: 1.478. Result ID: 69f05ed547f34ce924d5cce4.

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

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

Recorded evaluation configuration: {"Perception Setup":"Detector -\> Tracker","Setting":"Fusion","Vehicle":"Vehicle 2"}. This record does not assert independent reproduction.

### Late Fusion Framework

ADE: 1.517. Result ID: 69f05ed547f34ce924d5ccda.

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

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

Recorded evaluation configuration: {"Perception Pipeline":"Detector -\> Tracker","Setting":"Fusion"}. This record does not assert independent reproduction.

### Individual Prediction

ADE: 1.524. Result ID: 69f05ed547f34ce924d5ccd9.

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

Recorded evaluation configuration: {"Perception Pipeline":"Detector -\> Tracker","Setting":"Indiv"}. This record does not assert independent reproduction.

### Individual Prediction

ADE: 1.617. Result ID: 69f05ed547f34ce924d5ccd6.

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

Recorded evaluation configuration: {"Perception Pipeline":"Ray-casting -\> Tracker","Setting":"w/o Occ."}. This record does not assert independent reproduction.

### Individual Prediction

ADE: 1.636. Result ID: 69f05ed547f34ce924d5ccd7.

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

Recorded evaluation configuration: {"Perception Pipeline":"Ray-casting -\> Tracker","Setting":"under Occ."}. This record does not assert independent reproduction.

### Late Fusion Framework

ADE: 1.638. Result ID: 69f05ed547f34ce924d5ccd8.

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

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

Recorded evaluation configuration: {"Perception Pipeline":"Ray-casting -\> Tracker","Setting":"Fusion"}. This record does not assert independent reproduction.

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