# Trajectory Prediction on V2V4Real (val)

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

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

Data updated: 2026-04-28T07:20:16.348Z

Evaluation of trajectory prediction models on the validation 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 (val) |
| Metric | ADE (Avg. Displacement Error) |
| 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 (Avg. Displacement Error)](<https://www.sota2.com/research/sota/trajectory-prediction-on-v2v4real-val.md?metric=ADE%20(Avg.%20Displacement%20Error)>): Lower is better; unit: SCALAR.

- [FDE (Final Displacement Error)](<https://www.sota2.com/research/sota/trajectory-prediction-on-v2v4real-val.md?metric=FDE%20(Final%20Displacement%20Error)>): Lower is better; unit: SCALAR.

- [MR (Miss Rate)](<https://www.sota2.com/research/sota/trajectory-prediction-on-v2v4real-val.md?metric=MR%20(Miss%20Rate)>): Lower is better; unit: PERCENT.

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

## Recorded results

| Method | ADE (Avg. Displacement Error) | Result date | Report paper |
| --- | --- | --- | --- |
| Individual Prediction | 1.123 | Not recorded | 69f03f1455a3c32af89fa057 |
| Late Fusion Framework | 1.139 | Not recorded | 69f03f1455a3c32af89fa057 |
| Late Fusion Framework | 1.143 | Not recorded | 69f03f1455a3c32af89fa057 |
| Detector -\> Tracker | 1.149 | Not recorded | 69f03f1455a3c32af89fa057 |
| Individual Prediction | 1.38 | Not recorded | 69f03f1455a3c32af89fa057 |
| Individual Prediction | 1.381 | Not recorded | 69f03f1455a3c32af89fa057 |
| Late Fusion Framework | 1.381 | Not recorded | 69f03f1455a3c32af89fa057 |
| Casting Ray -\> Tracker (ID asc.) | 1.646 | Not recorded | 69f03f1455a3c32af89fa057 |
| Casting Ray -\> Tracker (ID asc.) | 1.664 | Not recorded | 69f03f1455a3c32af89fa057 |
| Late Fusion Framework | 1.667 | Not recorded | 69f03f1455a3c32af89fa057 |

### Individual Prediction

ADE (Avg. Displacement Error): 1.123. Result ID: 69f05ed547f34ce924d5ccd4.

[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.

### Late Fusion Framework

ADE (Avg. Displacement Error): 1.139. Result ID: 69f05ed547f34ce924d5ccd5.

[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.

### Late Fusion Framework

ADE (Avg. Displacement Error): 1.143. Result ID: 69f05ed547f34ce924d5ccdf.

[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.

### Detector -\> Tracker

ADE (Avg. Displacement Error): 1.149. Result ID: 69f05ed547f34ce924d5ccde.

[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.

### Individual Prediction

ADE (Avg. Displacement Error): 1.38. Result ID: 69f05ed547f34ce924d5ccd1.

[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 (Avg. Displacement Error): 1.381. Result ID: 69f05ed547f34ce924d5ccd2.

[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 (Avg. Displacement Error): 1.381. Result ID: 69f05ed547f34ce924d5ccd3.

[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.

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

ADE (Avg. Displacement Error): 1.646. Result ID: 69f05ed547f34ce924d5ccdb.

[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 (Avg. Displacement Error): 1.664. Result ID: 69f05ed547f34ce924d5ccdc.

[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 (Avg. Displacement Error): 1.667. Result ID: 69f05ed547f34ce924d5ccdd.

[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.

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