# Trajectory Prediction on ZARA1 (ADE, FDE, KDE NLL)

Source: [Trajectory Prediction on ZARA1 (ADE, FDE, KDE NLL)](<https://www.sota2.com/research/sota/trajectory-prediction-on-zara1-ade-fde-kde-nll>)

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

Data updated: 2026-05-26T12:10:02.460Z

Evaluation of trajectory prediction models on the ZARA1 dataset, assessed using Average Displacement Error (ADE), Final Displacement Error (FDE), and Kernel Density Estimation Negative Log-Likelihood (KDE NLL).

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) | ZARA1 |
| Metric | ADE |
| Unit | SCALAR |
| Direction | Lower is better |
| Results loaded | 17 of 17 |
| 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-zara1-ade-fde-kde-nll.md?metric=ADE>): Lower is better; unit: SCALAR.

- [FDE](<https://www.sota2.com/research/sota/trajectory-prediction-on-zara1-ade-fde-kde-nll.md?metric=FDE>): Lower is better; unit: SCALAR.

- [KDE NLL](<https://www.sota2.com/research/sota/trajectory-prediction-on-zara1-ade-fde-kde-nll.md?metric=KDE%20NLL>): Lower is better; unit: SCALAR.

## Recorded results

| Method | ADE | Result date | Report paper |
| --- | --- | --- | --- |
| EqMotion | 0.39 | Not recorded | 6a15294ddbd7150506f7e200 |
| FEP-Diff | 0.39 | Not recorded | 6a15294ddbd7150506f7e200 |
| GP-Graph | 0.4 | Not recorded | 6a15294ddbd7150506f7e200 |
| NPSN | 0.42 | Not recorded | 6a15294ddbd7150506f7e200 |
| SingularTraj | 0.44 | Not recorded | 6a15294ddbd7150506f7e200 |
| SocialVAE | 0.44 | Not recorded | 6a15294ddbd7150506f7e200 |
| MID | 0.47 | Not recorded | 6a15294ddbd7150506f7e200 |
| Trajectron++ | 0.48 | Not recorded | 6a15294ddbd7150506f7e200 |
| JACoP | 0.59 | Not recorded | 6a0405b7dbc836b87d827695 |
| MoFlow | 0.66 | Not recorded | 6a15294ddbd7150506f7e200 |
| GP-Graph | 0.68 | Not recorded | 6a0405b7dbc836b87d827695 |
| EigenTrajectory | 0.69 | Not recorded | 6a15294ddbd7150506f7e200 |
| AgentFormer | 0.72 | Not recorded | 6a0405b7dbc836b87d827695 |
| AgentFormer + JACoP Aligner | 0.73 | Not recorded | 6a0405b7dbc836b87d827695 |
| EqMotion | 0.82 | Not recorded | 6a0405b7dbc836b87d827695 |
| AgentFormer | 0.82 | Not recorded | 6a15294ddbd7150506f7e200 |
| SingularTrajectory | 0.92 | Not recorded | 6a0405b7dbc836b87d827695 |

### EqMotion

ADE: 0.39. Result ID: 6a158d93fbc373592c0e3489.

[Reporting paper](<https://www.sota2.com/research/paper/6a15294ddbd7150506f7e200.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6ee81e209131cea42d3c.md>)

[Implementation](<https://github.com/MediaBrain-SJTU/EqMotion>)

Recorded evaluation configuration: {"Mode":"Deterministic"}. This record does not assert independent reproduction.

### FEP-Diff

ADE: 0.39. Result ID: 6a158d93fbc373592c0e3490.

[Reporting paper](<https://www.sota2.com/research/paper/6a15294ddbd7150506f7e200.md>)

[Method origin paper](<https://www.sota2.com/research/paper/6a15294ddbd7150506f7e200.md>)

Recorded evaluation configuration: {"Mode":"Deterministic"}. This record does not assert independent reproduction.

### GP-Graph

ADE: 0.4. Result ID: 6a158d93fbc373592c0e3488.

[Reporting paper](<https://www.sota2.com/research/paper/6a15294ddbd7150506f7e200.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6d191e209131cea37b9a.md>)

Recorded evaluation configuration: {"Mode":"Deterministic"}. This record does not assert independent reproduction.

### NPSN

ADE: 0.42. Result ID: 6a158d93fbc373592c0e348a.

[Reporting paper](<https://www.sota2.com/research/paper/6a15294ddbd7150506f7e200.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6c821e209131cea3467a.md>)

[Implementation](<https://github.com/inhwanbae/NPSN>)

Recorded evaluation configuration: {"Mode":"Deterministic"}. This record does not assert independent reproduction.

### SingularTraj

ADE: 0.44. Result ID: 6a158d93fbc373592c0e348c.

[Reporting paper](<https://www.sota2.com/research/paper/6a15294ddbd7150506f7e200.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa72b71e209131cea581ef.md>)

[Implementation](<https://github.com/inhwanbae/SingularTrajectory>)

Recorded evaluation configuration: {"Mode":"Deterministic"}. This record does not assert independent reproduction.

### SocialVAE

ADE: 0.44. Result ID: 6a158d93fbc373592c0e348e.

[Reporting paper](<https://www.sota2.com/research/paper/6a15294ddbd7150506f7e200.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6dc81e209131cea3c2aa.md>)

Recorded evaluation configuration: {"Mode":"Deterministic"}. This record does not assert independent reproduction.

### MID

ADE: 0.47. Result ID: 6a158d93fbc373592c0e348d.

[Reporting paper](<https://www.sota2.com/research/paper/6a15294ddbd7150506f7e200.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6c191e209131cea3229f.md>)

Recorded evaluation configuration: {"Mode":"Deterministic"}. This record does not assert independent reproduction.

### Trajectron++

ADE: 0.48. Result ID: 6a158d93fbc373592c0e348b.

[Reporting paper](<https://www.sota2.com/research/paper/6a15294ddbd7150506f7e200.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa690e1e209131cea1fd3a.md>)

[Implementation](<https://github.com/StanfordASL/Trajectron-plus-plus>)

Recorded evaluation configuration: {"Mode":"Deterministic"}. This record does not assert independent reproduction.

### JACoP

ADE: 0.59. Result ID: 6a04316747f34ce924e9f21a.

[Reporting paper](<https://www.sota2.com/research/paper/6a0405b7dbc836b87d827695.md>)

[Method origin paper](<https://www.sota2.com/research/paper/6a0405b7dbc836b87d827695.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### MoFlow

ADE: 0.66. Result ID: 6a158d93fbc373592c0e348f.

[Reporting paper](<https://www.sota2.com/research/paper/6a15294ddbd7150506f7e200.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa77621e209131cea72e02.md>)

[Implementation](<https://moflow-imle.github.io/>)

Recorded evaluation configuration: {"Mode":"Deterministic"}. This record does not assert independent reproduction.

### GP-Graph

ADE: 0.68. Result ID: 6a04316747f34ce924e9f217.

[Reporting paper](<https://www.sota2.com/research/paper/6a0405b7dbc836b87d827695.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6d191e209131cea37b9a.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### EigenTrajectory

ADE: 0.69. Result ID: 6a158d93fbc373592c0e3487.

[Reporting paper](<https://www.sota2.com/research/paper/6a15294ddbd7150506f7e200.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa701e1e209131cea49271.md>)

Recorded evaluation configuration: {"Mode":"Deterministic"}. This record does not assert independent reproduction.

### AgentFormer

ADE: 0.72. Result ID: 6a04316747f34ce924e9f215.

[Reporting paper](<https://www.sota2.com/research/paper/6a0405b7dbc836b87d827695.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6aef1e209131cea2b2c6.md>)

[Implementation](<https://www.ye-yuan.com/agentformer>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### AgentFormer + JACoP Aligner

ADE: 0.73. Result ID: 6a04316747f34ce924e9f216.

[Reporting paper](<https://www.sota2.com/research/paper/6a0405b7dbc836b87d827695.md>)

[Method origin paper](<https://www.sota2.com/research/paper/6a0405b7dbc836b87d827695.md>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### EqMotion

ADE: 0.82. Result ID: 6a04316747f34ce924e9f218.

[Reporting paper](<https://www.sota2.com/research/paper/6a0405b7dbc836b87d827695.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6ee81e209131cea42d3c.md>)

[Implementation](<https://github.com/MediaBrain-SJTU/EqMotion>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

### AgentFormer

ADE: 0.82. Result ID: 6a158d93fbc373592c0e3486.

[Reporting paper](<https://www.sota2.com/research/paper/6a15294ddbd7150506f7e200.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa6aef1e209131cea2b2c6.md>)

[Implementation](<https://www.ye-yuan.com/agentformer>)

Recorded evaluation configuration: {"Mode":"Deterministic"}. This record does not assert independent reproduction.

### SingularTrajectory

ADE: 0.92. Result ID: 6a04316747f34ce924e9f219.

[Reporting paper](<https://www.sota2.com/research/paper/6a0405b7dbc836b87d827695.md>)

[Method origin paper](<https://www.sota2.com/research/paper/68fa72b71e209131cea581ef.md>)

[Implementation](<https://github.com/inhwanbae/SingularTrajectory>)

Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction.

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