Awesome
Awesome Interaction-Aware Behavior and Trajectory Prediction
This is a checklist of state-of-the-art research materials (datasets, blogs, papers and public codes) related to trajectory prediction. Wish it could be helpful for both academia and industry. (Still updating)
Maintainers: Jiachen Li (Stanford University); Hengbo Ma, Jinning Li (University of California, Berkeley)
Emails: jiachen_li@stanford.edu; {hengbo_ma, jinning_li}@berkeley.edu
Please feel free to pull request to add new resources or send emails to us for questions, discussion and collaborations.
Note: Here is also a collection of materials for reinforcement learning, decision making and motion planning.
Please consider citing our work if you found this repo useful:
@inproceedings{li2020evolvegraph,
title={EvolveGraph: Multi-Agent Trajectory Prediction with Dynamic Relational Reasoning},
author={Li, Jiachen and Yang, Fan and Tomizuka, Masayoshi and Choi, Chiho},
booktitle={2020 Advances in Neural Information Processing Systems (NeurIPS)},
year={2020}
}
@inproceedings{li2019conditional,
title={Conditional Generative Neural System for Probabilistic Trajectory Prediction},
author={Li, Jiachen and Ma, Hengbo and Tomizuka, Masayoshi},
booktitle={2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages={6150--6156},
year={2019},
organization={IEEE}
}
Table of Contents
<!-- TOC depthFrom:1 depthTo:6 withLinks:1 updateOnSave:1 orderedList:0 -->- Datasets
- Literature and Codes <!-- /TOC -->
Datasets
Vehicles and Traffic
Dataset | Agents | Scenarios | Sensors |
---|---|---|---|
Waymo Open Dataset | vehicles / cyclists / people | urban / highway | LiDAR / camera / Radar |
Argoverse | vehicles / cyclists / people | urban / highway | LiDAR / camera / Radar |
nuScenes | vehicles | urban | camera / LiDAR / Radar |
highD | vehicles | highway | camera |
inD | vehicles | highway | camera |
roundD | vehicles | highway | camera |
BDD100k | vehicles / cyclists / people | highway / urban | camera |
KITTI | vehicles / cyclists / people | highway / rural areas | camera / LiDAR |
NGSIM | vehicles | highway | camera |
INTERACTION | vehicles / cyclists / people | roundabout / intersection | camera |
Cyclists | cyclists | urban | camera |
Apolloscapes | vehicles / cyclists / people | urban | camera |
Udacity | vehicles | urban | camera |
Cityscapes | vehicles / people | urban | camera |
Stanford Drone | vehicles / cyclists / people | urban | camera |
Argoverse | vehicles / people | urban | camera / LiDAR |
TRAF | vehicles / buses / cyclists / bikes / people / animals | urban | camera |
Aschaffenburg Pose Dataset | cyclists / people | urban | camera |
Pedestrians
Dataset | Agents | Scenarios | Sensors |
---|---|---|---|
UCY | people | zara / students | camera |
ETH (ICCV09) | people | urban | camera |
VIRAT | people / vehicles | urban | camera |
KITTI | vehicles / cyclists / people | highway / rural areas | camera / LiDAR |
ATC | people | shopping center | Range sensor |
Daimler | people | from moving vehicle | camera |
Central Station | people | inside station | camera |
Town Center | people | urban street | camera |
Edinburgh | people | urban | camera |
Cityscapes | vehicles / people | urban | camera |
Argoverse | vehicles / people | urban | camera / LiDAR |
Stanford Drone | vehicles / cyclists / people | urban | camera |
TrajNet | people | urban | camera |
PIE | people | urban | camera |
ForkingPaths | people | urban / simulation | camera |
TrajNet++ | people | urban | camera |
Aschaffenburg Pose Dataset | cyclists / people | urban | camera |
Cyclist Top-View Dataset (CTV) | cyclists / people | urban | camera |
Sport Players
Dataset | Agents | Scenarios | Sensors |
---|---|---|---|
Football | people | football field | camera |
NBA SportVU | people | basketball Hall | camera |
NFL | people | American football | camera |
Literature and Codes
Survey Papers
- Machine Learning for Autonomous Vehicle’s Trajectory Prediction: A comprehensive survey, Challenges, and Future Research Directions, arXiv preprint arXiv:2307.07527, 2023. [paper]
- Incorporating Driving Knowledge in Deep Learning Based Vehicle Trajectory Prediction: A Survey, IEEE T-IV, 2023. [paper]
- Pedestrian Trajectory Prediction in Pedestrian-Vehicle Mixed Environments: A Systematic Review, IEEE T-ITS, 2023. [paper]
- A Survey on Trajectory-Prediction Methods for Autonomous Driving, IEEE T-IV 2022. [paper]
- A Survey of Vehicle Trajectory Prediction Based on Deep Learning Models, International Conference on Sustainable Expert Systems, ICSES 2022. [paper]
- Scenario Understanding and Motion Prediction for Autonomous Vehicles – Review and Comparison, IEEE T-ITS, 2022. [paper]
- Multi-modal Fusion Technology based on Vehicle Information: A Survey, arXiv preprint arXiv:2211.06080, 2022. [paper]
- Deep Reinforcement Learning for Autonomous Driving: A Survey, IEEE T-ITS, 2022. [paper]
- Social Interactions for Autonomous Driving: A Review and Perspective, arXiv preprint arXiv:2208.07541, 2022. [paper]
- Generative Adversarial Networks for Spatio-temporal Data: A Survey, ACM T-IST, 2022. [paper]
- Behavioral Intention Prediction in Driving Scenes: A Survey, arXiv preprint arXiv:2211.00385, 2022. [paper]
- A Survey on Motion Prediction of Pedestrians and Vehicles for Autonomous Driving, IEEE Access, 2021. [paper]
- Review of Pedestrian Trajectory Prediction Methods: Comparing Deep Learning and Knowledge-based Approaches, arXiv preprint arXiv:2111.06740, 2021. [paper]
- A Survey on Trajectory Data Management, Analytics, and Learning, CSUR 2021. [paper]
- Pedestrian Behavior Prediction for Automated Driving: Requirements, Metrics, and Relevant Features, IEEE T-ITS, 2021. [paper]
- A Review of Deep Learning-Based Methods for Pedestrian Trajectory Prediction, Sensors, 2021. [paper]
- A Survey on Deep-Learning Approaches for Vehicle Trajectory Prediction in Autonomous Driving, ROBIO 2021. [paper] [code]
- A Survey of Deep Learning Techniques for Autonomous Driving, Journal of Field Robotics, 2020. [paper]
- Human Motion Trajectory Prediction: A Survey, International Journal of Robotics Research, 2020. [paper]
- Autonomous Driving with Deep Learning: A Survey of State-of-Art Technologies, arXiv preprint arXiv:2006.06091, 2020. [paper]
- A Survey on Visual Traffic Simulation: Models, Evaluations, and Applications in Autonomous Driving, Computer Graphics Forum 2020. [paper]
- Deep Learning-Based Vehicle Behavior Prediction for Autonomous Driving Applications: A Review, IEEE T-ITS 2020. [paper]
- Survey of Deep Reinforcement Learning for Motion Planning of Autonomous Vehicles, IEEE T-ITS 2020. [paper]
- Vehicle Trajectory Similarity: Models, Methods, and Applications, ACM Computing Surveys (CSUR 2020). [paper]
- Modeling and Prediction of Human Driver Behavior: A Survey, 2020. [paper]
- A literature review on the prediction of pedestrian behavior in urban scenarios, ITSC 2018. [paper]
- Survey on Vision-Based Path Prediction. [paper]
- Autonomous vehicles that interact with pedestrians: A survey of theory and practice. [paper]
- Trajectory data mining: an overview. [paper]
- A survey on motion prediction and risk assessment for intelligent vehicles. [paper]
Physics Systems with Interaction
- Learning Physical Dynamics with Subequivariant Graph Neural Networks, NeurIPS 2022. [paper] [code]
- EvolveGraph: Multi-Agent Trajectory Prediction with Dynamic Relational Reasoning, NeurIPS 2020. [paper]
- Interaction Templates for Multi-Robot Systems, IROS 2019. [paper]
- Factorised Neural Relational Inference for Multi-Interaction Systems, ICML workshop 2019. [paper] [code]
- Physics-as-Inverse-Graphics: Joint Unsupervised Learning of Objects and Physics from Video, 2019. [paper]
- Neural Relational Inference for Interacting Systems, ICML 2018. [paper] [code]
- Unsupervised Learning of Latent Physical Properties Using Perception-Prediction Networks, UAI 2018. [paper]
- Relational inductive biases, deep learning, and graph networks, 2018. [paper]
- Relational Neural Expectation Maximization: Unsupervised Discovery of Objects and their Interactions, ICLR 2018. [paper]
- Graph networks as learnable physics engines for inference and control, ICML 2018. [paper]
- Flexible Neural Representation for Physics Prediction, 2018. [paper]
- A simple neural network module for relational reasoning, 2017. [paper]
- VAIN: Attentional Multi-agent Predictive Modeling, NeurIPS 2017. [paper]
- Visual Interaction Networks, 2017. [paper]
- A Compositional Object-Based Approach to Learning Physical Dynamics, ICLR 2017. [paper]
- Interaction Networks for Learning about Objects, Relations and Physics, 2016. [paper][code]
Intelligent Vehicles & Traffic & Pedestrians
- Diffusion-Based Environment-Aware Trajectory Prediction, arXiv preprint arXiv:2403.11643, 2024. [paper]
- MTP-GO: Graph-Based Probabilistic Multi-Agent Trajectory Prediction with Neural ODEs, IEEE T-IV 2023. [paper] [code]
- MotionDiffuser: Controllable Multi-Agent Motion Prediction using Diffusion, CVPR 2023. [paper]
- Uncovering the Missing Pattern: Unified Framework Towards Trajectory Imputation and Prediction, CVPR 2023. [paper]
- Unsupervised Sampling Promoting for Stochastic Human Trajectory Prediction, CVPR 2023. [paper] [code]
- Planning-oriented Autonomous Driving, CVPR 2023. [paper] [code]
- IPCC-TP: Utilizing Incremental Pearson Correlation Coefficient for Joint Multi-Agent Trajectory Prediction, CVPR 2023. [paper]
- Stimulus Verification is a Universal and Effective Sampler in Multi-modal Human Trajectory Prediction, CVPR 2023. [paper]
- Query-Centric Trajectory Prediction, CVPR 2023. [paper] [code] [QCNeXt]
- FEND: A Future Enhanced Distribution-Aware Contrastive Learning Framework for Long-tail Trajectory Prediction, CVPR 2023. [paper]
- Trace and Pace: Controllable Pedestrian Animation via Guided Trajectory Diffusion, CVPR 2023. [paper] [website]
- FJMP: Factorized Joint Multi-Agent Motion Prediction over Learned Directed Acyclic Interaction Graphs, CVPR 2023. [paper] [website]
- Leapfrog Diffusion Model for Stochastic Trajectory Prediction, CVPR 2023. [paper] [code]
- ViP3D: End-to-end Visual Trajectory Prediction via 3D Agent Queries, CVPR 2023. [paper] [website]
- EqMotion: Equivariant Multi-Agent Motion Prediction with Invariant Interaction Reasoning, CVPR 2023. [paper] [code]
- V2X-Seq: A Large-Scale Sequential Dataset for Vehicle-Infrastructure Cooperative Perception and Forecasting, CVPR 2023. [paper] [code]
- Weakly Supervised Class-agnostic Motion Prediction for Autonomous Driving, CVPR 2023. [paper]
- Decompose More and Aggregate Better: Two Closer Looks at Frequency Representation Learning for Human Motion Prediction, CVPR 2023. [paper]
- HumanMAC: Masked Motion Completion for Human Motion Prediction, ICCV 2023. [paper] [code]
- BeLFusion: Latent Diffusion for Behavior-Driven Human Motion Prediction, ICCV 2023. [paper] [code]
- EigenTrajectory: Low-Rank Descriptors for Multi-Modal Trajectory Forecasting, ICCV 2023. [paper] [code]
- ADAPT: Efficient Multi-Agent Trajectory Prediction with Adaptation, ICCV 2023. [paper] [code]
- PowerBEV: A Powerful Yet Lightweight Framework for Instance Prediction in Bird’s-Eye View, IJCAI 2023. [paper] [code]
- Human Joint Kinematics Diffusion-Refinement for Stochastic Motion Prediction, AAAI 2023. [paper]
- Multi-stream Representation Learning for Pedestrian Trajectory Prediction, AAAI 2023. [paper]
- Continuous Trajectory Generation Based on Two-Stage GAN, AAAI 2023. [paper] [code]
- A Set of Control Points Conditioned Pedestrian Trajectory Prediction, AAAI 2023. [paper] [code]
- Leveraging Future Relationship Reasoning for Vehicle Trajectory Prediction, ICLR 2023. [paper]
- TrafficGen: Learning to Generate Diverse and Realistic Traffic Scenarios, ICRA 2023. [paper] [code]
- GANet: Goal Area Network for Motion Forecasting, ICRA 2023. [paper] [code]
- TOFG: A Unified and Fine-Grained Environment Representation in Autonomous Driving, ICRA 2023. [paper]
- SSL-Lanes: Self-Supervised Learning for Motion Forecasting in Autonomous Driving, CoRL 2023. [paper] [code]
- LimSim: A Long-term Interactive Multi-scenario Traffic Simulator, ITSC 2023. [paper] [code]
- MVHGN: Multi-View Adaptive Hierarchical Spatial Graph Convolution Network Based Trajectory Prediction for Heterogeneous Traffic-Agents, TITS. [paper]
- Adaptive and Simultaneous Trajectory Prediction for Heterogeneous Agents via Transferable Hierarchical Transformer Network, TITS. [paper]
- SSAGCN: Social Soft Attention Graph Convolution Network for Pedestrian Trajectory Prediction, TNNLS. [paper] [code]
- Disentangling Crowd Interactions for Pedestrians Trajectory Prediction, RAL. [paper]
- VNAGT: Variational Non-Autoregressive Graph Transformer Network for Multi-Agent Trajectory Prediction, IEEE Transactions on Vehicular Technology. [paper]
- Spatial-Temporal-Spectral LSTM: A Transferable Model for Pedestrian Trajectory Prediction, TIV. [paper]
- Holistic Transformer: A Joint Neural Network for Trajectory Prediction and Decision-Making of Autonomous Vehicles, PR. [paper]
- Tri-HGNN: Learning triple policies fused hierarchical graph neural networks for pedestrian trajectory prediction, PR. [paper]
- Multimodal Vehicular Trajectory Prediction With Inverse Reinforcement Learning and Risk Aversion at Urban Unsignalized Intersections, TITS. [paper]
- Trajectory prediction for autonomous driving based on multiscale spatial‐temporal graph, IET Intelligent Transport Systems. [paper]
- Social Self-Attention Generative Adversarial Networks for Human Trajectory Prediction, IEEE Transactions on Artificial Intelligence. [paper]
- CSIR: Cascaded Sliding CVAEs With Iterative Socially-Aware Rethinking for Trajectory Prediction, TITS. [paper]
- Multimodal Manoeuvre and Trajectory Prediction for Automated Driving on Highways Using Transformer Networks, RAL. [paper]
- A physics-informed Transformer model for vehicle trajectory prediction on highways, Transportation Research Part C: Emerging Technologies. [paper] [code]
- MacFormer: Map-Agent Coupled Transformer for Real-time and Robust Trajectory Prediction, RAL. [paper]
- MRGTraj: A Novel Non-Autoregressive Approach for Human Trajectory Prediction, TCSVT. [paper] [code]
- Planning-inspired Hierarchical Trajectory Prediction via Lateral-Longitudinal Decomposition for Autonomous Driving, TIV. [paper]
- Traj-MAE: Masked Autoencoders for Trajectory Prediction, arXiv preprint arXiv:2303.06697, 2023. [paper]
- Uncertainty-Aware Pedestrian Trajectory Prediction via Distributional Diffusion, arXiv preprint arXiv:2303.08367, 2023. [paper]
- Diffusion Model for GPS Trajectory Generation, arXiv preprint arXiv:2304.11582, 2023. [paper]
- Multiverse Transformer: 1st Place Solution for Waymo Open Sim Agents Challenge 2023, CVPR 2023 Workshop on Autonomous Driving. [paper] [website]
- Joint-Multipath++ for Simulation Agents: 2nd Place Solution for Waymo Open Sim Agents Challenge 2023, CVPR 2023 Workshop on Autonomous Driving. [paper] [code]
- MTR++: Multi-Agent Motion Prediction with Symmetric Scene Modeling and Guided Intention Querying, 1st Place Solution for Waymo Open Motion Prediction Challenge 2023, CVPR 2023 Workshop on Autonomous Driving. [paper] [code]
- GameFormer: Game-theoretic Modeling and Learning of Transformer-based Interactive Prediction and Planning for Autonomous Driving, arXiv preprint arXiv:2303.05760, 2023. [paper] [code] [website]
- GameFormer Planner: A Learning-enabled Interactive Prediction and Planning Framework for Autonomous Vehicles, the nuPlan Planning Challenge at the CVPR 2023 End-to-End Autonomous Driving Workshop. [paper] [code]
- trajdata: A Unified Interface to Multiple Human Trajectory Datasets, arXiv preprint arXiv:2307.13924, 2023. [paper] [code]
- Remember Intentions: Retrospective-Memory-based Trajectory Prediction, CVPR 2022. [paper] [code]
- STCrowd: A Multimodal Dataset for Pedestrian Perception in Crowded Scenes, CVPR 2022. [paper] [code]
- Vehicle trajectory prediction works, but not everywhere, CVPR 2022. [paper] [code]
- Stochastic Trajectory Prediction via Motion Indeterminacy Diffusion, CVPR 2022. [paper] [code]
- Non-Probability Sampling Network for Stochastic Human Trajectory Prediction, CVPR 2022. [paper] [code]
- On Adversarial Robustness of Trajectory Prediction for Autonomous Vehicles, CVPR 2022. [paper] [code]
- Adaptive Trajectory Prediction via Transferable GNN, CVPR 2022. [paper]
- Towards Robust and Adaptive Motion Forecasting: A Causal Representation Perspective, CVPR 2022. [paper] [code, code]
- How many Observations are Enough? Knowledge Distillation for Trajectory Forecasting, CVPR 2022. [paper]
- Learning from All Vehicles, CVPR 2022. [paper] [code]
- Forecasting from LiDAR via Future Object Detection, CVPR 2022. [paper] [code]
- End-to-End Trajectory Distribution Prediction Based on Occupancy Grid Maps, CVPR 2022. [paper] [code]
- M2I: From Factored Marginal Trajectory Prediction to Interactive Prediction, CVPR 2022. [paper] [code]
- GroupNet: Multiscale Hypergraph Neural Networks for Trajectory Prediction with Relational Reasoning, CVPR 2022. [paper] [code]
- Whose Track Is It Anyway? Improving Robustness to Tracking Errors with Affinity-Based Prediction, CVPR 2022. [paper]
- ScePT: Scene-consistent, Policy-based Trajectory Predictions for Planning, CVPR 2022. [paper] [code]
- Graph-based Spatial Transformer with Memory Replay for Multi-future Pedestrian Trajectory Prediction, CVPR 2022. [paper] [code]
- MUSE-VAE: Multi-Scale VAE for Environment-Aware Long Term Trajectory Prediction, CVPR 2022. [paper]
- LTP: Lane-based Trajectory Prediction for Autonomous Driving, CVPR 2022. [paper]
- ATPFL: Automatic Trajectory Prediction Model Design under Federated Learning Framework, CVPR 2022. [paper]
- Human Trajectory Prediction with Momentary Observation, CVPR 2022. [paper]
- HiVT: Hierarchical Vector Transformer for Multi-Agent Motion Prediction, CVPR 2022. [paper] [code]
- Learning Pedestrian Group Representations for Multi-modal Trajectory Prediction, ECCV 2022. [paper] [code]
- Social-Implicit: Rethinking Trajectory Prediction Evaluation and The Effectiveness of Implicit Maximum Likelihood Estimation, ECCV 2022. [paper] [code] [website]
- Hierarchical Latent Structure for Multi-Modal Vehicle Trajectory Forecasting, ECCV 2022. [paper] [code]
- SocialVAE: Human Trajectory Prediction using Timewise Latents, ECCV 2022. [paper] [code]
- View Vertically: A Hierarchical Network for Trajectory Prediction via Fourier Spectrums, ECCV 2022. [paper] [code]
- Entry-Flipped Transformer for Inference and Prediction of Participant Behavior, ECCV 2022. [paper]
- D2-TPred: Discontinuous Dependency for Trajectory Prediction under Traffic Lights, ECCV 2022. [paper] [code]
- Human Trajectory Prediction via Neural Social Physics, ECCV 2022. [paper] [code]
- Social-SSL: Self-Supervised Cross-Sequence Representation Learning Based on Transformers for Multi-Agent Trajectory Prediction, ECCV 2022. [paper] [code]
- Aware of the History: Trajectory Forecasting with the Local Behavior Data, ECCV 2022. [paper] [code]
- Action-based Contrastive Learning for Trajectory Prediction, ECCV 2022. [paper]
- AdvDO: Realistic Adversarial Attacks for Trajectory Prediction, ECCV 2022. [paper]
- ST-P3: End-to-end Vision-based Autonomous Driving via Spatial-Temporal Feature Learning, ECCV 2022. [paper] [code]
- Social ODE: Multi-Agent Trajectory Forecasting with Neural Ordinary Differential Equations, ECCV 2022. [paper]
- Forecasting Human Trajectory from Scene History, NeurIPS 2022. [paper] [code]
- Trajectory-guided Control Prediction for End-to-end Autonomous Driving: A Simple yet Strong Baseline, NeurIPS 2022. [paper] [code]
- Motion Transformer with Global Intention Localization and Local Movement Refinement, NeurIPS 2022. [paper] [website]
- Interaction Modeling with Multiplex Attention, NeurIPS 2022. [paper] [code]
- Deep Interactive Motion Prediction and Planning: Playing Games with Motion Prediction Models, Conference on Learning for Dynamics and Control (L4DC). [paper] [website]
- Social Interpretable Tree for Pedestrian Trajectory Prediction, AAAI 2022. [paper] [code]
- Complementary Attention Gated Network for Pedestrian Trajectory Prediction, AAAI 2022. [paper] [code]
- Scene Transformer: A unified architecture for predicting future trajectories of multiple agents, ICLR 2022. [paper]
- You Mostly Walk Alone: Analyzing Feature Attribution in Trajectory Prediction, ICLR 2022. [paper]
- Latent Variable Sequential Set Transformers For Joint Multi-Agent Motion Prediction, ICLR 2022. [paper] [code]
- THOMAS: Trajectory Heatmap Output with learned Multi-Agent Sampling, ICLR 2022. [paper]
- Path-Aware Graph Attention for HD Maps in Motion Prediction, ICRA 2022. [paper]
- Trajectory Prediction with Linguistic Representations, ICRA 2022. [paper]
- Leveraging Smooth Attention Prior for Multi-Agent Trajectory Prediction, ICRA 2022. [paper] [website]
- KEMP: Keyframe-Based Hierarchical End-to-End Deep Model for Long-Term Trajectory Prediction, ICRA 2022. [paper]
- Domain Generalization for Vision-based Driving Trajectory Generation, ICRA 2022. [paper] [website]
- A Deep Concept Graph Network for Interaction-Aware Trajectory Prediction, ICRA 2022. [paper]
- Conditioned Human Trajectory Prediction using Iterative Attention Blocks, ICRA 2022. [paper]
- StopNet: Scalable Trajectory and Occupancy Prediction for Urban Autonomous Driving, ICRA 2022. [paper]
- Meta-path Analysis on Spatio-Temporal Graphs for Pedestrian Trajectory Prediction, ICRA 2022. [paper] [website]
- Propagating State Uncertainty Through Trajectory Forecasting, ICRA 2022. [paper] [code]
- HYPER: Learned Hybrid Trajectory Prediction via Factored Inference and Adaptive Sampling, ICRA 2022. [paper]
- Grouptron: Dynamic Multi-Scale Graph Convolutional Networks for Group-Aware Dense Crowd Trajectory Forecasting, ICRA 2022. [paper]
- Crossmodal Transformer Based Generative Framework for Pedestrian Trajectory Prediction, ICRA 2022. [paper]
- Trajectory Prediction for Autonomous Driving with Topometric Map, ICRA 2022. [paper] [code]
- CRAT-Pred: Vehicle Trajectory Prediction with Crystal Graph Convolutional Neural Networks and Multi-Head Self-Attention, ICRA 2022. [paper] [code]
- MultiPath++: Efficient Information Fusion and Trajectory Aggregation for Behavior Prediction, ICRA 2022. [paper]
- Multi-modal Motion Prediction with Transformer-based Neural Network for Autonomous Driving, ICRA 2022. [paper]
- GOHOME: Graph-Oriented Heatmap Output for future Motion Estimation, ICRA 2022. [paper]
- TridentNetV2: Lightweight Graphical Global Plan Representations for Dynamic Trajectory Generation, ICRA 2022. [paper]
- Heterogeneous-Agent Trajectory Forecasting Incorporating Class Uncertainty, IROS 2022. [paper] [code] [trajdata]
- Trajectory Prediction with Graph-based Dual-scale Context Fusion, IROS 2022. [paper] [code]
- Robust Trajectory Prediction against Adversarial Attacks, CoRL 2022. [paper] [code]
- Planning with Diffusion for Flexible Behavior Synthesis, ICML 2022. [paper] [website]
- Synchronous Bi-Directional Pedestrian Trajectory Prediction with Error Compensation, ACCV 2022. [paper]
- AI-TP: Attention-based Interaction-aware Trajectory Prediction for Autonomous Driving, IEEE T-IV, 2022. [paper] [code]
- MDST-DGCN: A Multilevel Dynamic Spatiotemporal Directed Graph Convolutional Network for Pedestrian Trajectory Prediction, Computational Intelligence and Neuroscience. [paper]
- Graph-Based Spatial-Temporal Convolutional Network for Vehicle Trajectory Prediction in Autonomous Driving, IEEE T-ITS, 2022. [paper]
- Multi-Agent Trajectory Prediction with Heterogeneous Edge-Enhanced Graph Attention Network, IEEE T-ITS, 2022. [paper]
- Fully Convolutional Encoder-Decoder With an Attention Mechanism for Practical Pedestrian Trajectory Prediction, IEEE T-ITS, 2022. [paper]
- STGM: Vehicle Trajectory Prediction Based on Generative Model for Spatial-Temporal Features, IEEE T-ITS, 2022. [paper]
- Trajectory Prediction for Autonomous Driving Using Spatial-Temporal Graph Attention Transformer, IEEE T-ITS, 2022. [paper]
- Intention-Aware Vehicle Trajectory Prediction Based on Spatial-Temporal Dynamic Attention Network for Internet of Vehicles, IEEE T-ITS, 2022. [paper] [code]
- Trajectory Forecasting Based on Prior-Aware Directed Graph Convolutional Neural Network, IEEE T-ITS, 2022. [paper]
- DeepTrack: Lightweight Deep Learning for Vehicle Trajectory Prediction in Highways, IEEE T-ITS, 2022. [paper]
- Interactive Trajectory Prediction Using a Driving Risk Map-Integrated Deep Learning Method for Surrounding Vehicles on Highways, IEEE T-ITS, 2022. [paper]
- Vehicle Trajectory Prediction in Connected Environments via Heterogeneous Context-Aware Graph Convolutional Networks, IEEE T-ITS, 2022. [paper]
- Trajectory Prediction Neural Network and Model Interpretation Based on Temporal Pattern Attention, IEEE T-ITS, 2022. [paper]
- Learning Sparse Interaction Graphs of Partially Detected Pedestrians for Trajectory Prediction, IEEE RA-L, 2022. [paper] [code]
- GAMMA: A General Agent Motion Prediction Model for Autonomous Driving, RAL. [paper] [code]
- Stepwise Goal-Driven Networks for Trajectory Prediction, RAL. [paper] [code]
- GA-STT: Human Trajectory Prediction with Group Aware Spatial-Temporal Transformer, RAL. [paper]
- Long-term 4D trajectory prediction using generative adversarial networks, Transportation Research Part C: Emerging Technologies. [paper]
- A context-aware pedestrian trajectory prediction framework for automated vehicles, Transportation Research Part C: Emerging Technologies. [paper]
- Explainable multimodal trajectory prediction using attention models, Transportation Research Part C: Emerging Technologies. [paper]
- CSCNet: Contextual semantic consistency network for trajectory prediction in crowded spaces, PR. [paper]
- CSR: Cascade Conditional Variational AutoEncoder with Social-aware Regression for Pedestrian Trajectory Prediction, PR. [paper]
- Step Attention: Sequential Pedestrian Trajectory Prediction, IEEE Sensors Journal. [paper]
- Vehicle Trajectory Prediction Method Coupled With Ego Vehicle Motion Trend Under Dual Attention Mechanism, IEEE Transactions on Instrumentation and Measurement. [paper]
- Spatio-temporal Interaction Aware and Trajectory Distribution Aware Graph Convolution Network for Pedestrian Multimodal Trajectory Prediction, IEEE Transactions on Instrumentation and Measurement. [paper]
- Deep encoder–decoder-NN: A deep learning-based autonomous vehicle trajectory prediction and correction model, Physica A: Statistical Mechanics and its Applications. [paper]
- PTPGC: Pedestrian trajectory prediction by graph attention network with ConvLSTM, Robotics and Autonomous Systems. [paper]
- GCHGAT: pedestrian trajectory prediction using group constrained hierarchical graph attention networks, Applied Intelligence. [paper]
- Vehicles Trajectory Prediction Using Recurrent VAE Network, IEEE Access. [paper] [code]
- SEEM: A Sequence Entropy Energy-Based Model for Pedestrian Trajectory All-Then-One Prediction, TPAMI. [paper]
- PTP-STGCN: Pedestrian Trajectory Prediction Based on a Spatio-temporal Graph Convolutional Neural Network, Applied Intelligence. [paper]
- Trajectory distributions: A new description of movement for trajectory prediction, Computational Visual Media. [paper]
- Trajectory prediction for autonomous driving based on multiscale spatial-temporal graph, IET Intelligent Transport Systems. [paper]
- Continual learning-based trajectory prediction with memory augmented networks, Knowledge-Based Systems. [paper]
- Atten-GAN: Pedestrian Trajectory Prediction with GAN Based on Attention Mechanism, Cognitive Computation. [paper]
- EvoSTGAT: Evolving spatiotemporal graph attention networks for pedestrian trajectory prediction, Neurocomputing. [paper]
- Raising context awareness in motion forecasting, CVPR Workshops 2022. [paper] [code]
- Goal-driven Self-Attentive Recurrent Networks for Trajectory Prediction, CVPR Workshops 2022. [paper] [code]
- Importance Is in Your Attention: Agent Importance Prediction for Autonomous Driving, CVPR Workshops 2022. [paper]
- MPA: MultiPath++ Based Architecture for Motion Prediction, CVPR Workshops 2022. [paper] [code]
- TPAD: Identifying Effective Trajectory Predictions Under the Guidance of Trajectory Anomaly Detection Model, arXiv:2201.02941, 2022. [paper]
- Wayformer: Motion Forecasting via Simple & Efficient Attention Networks, arXiv preprint arXiv:2207.05844, 2022. [paper]
- PreTR: Spatio-Temporal Non-Autoregressive Trajectory Prediction Transformer, arXiv preprint arXiv:2203.09293, 2022. [paper]
- LatentFormer: Multi-Agent Transformer-Based Interaction Modeling and Trajectory Prediction, arXiv preprint arXiv:2203.01880, 2022. [paper]
- Diverse Multiple Trajectory Prediction Using a Two-stage Prediction Network Trained with Lane Loss, arXiv preprint arXiv:2206.08641, 2022. [paper]
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Sport Players
- EvolveGraph: Multi-Agent Trajectory Prediction with Dynamic Relational Reasoning, NeurIPS 2020. [paper]
- Imitative Non-Autoregressive Modeling for Trajectory Forecasting and Imputation, CVPR 2020. [paper]
- DAG-Net: Double Attentive Graph Neural Network for Trajectory Forecasting, ICPR 2020. [paper] [code]
- Diverse Generation for Multi-Agent Sports Games, CVPR 2019. [paper]
- Stochastic Prediction of Multi-Agent Interactions from Partial Observations, ICLR 2019. [paper]
- Generating Multi-Agent Trajectories using Programmatic Weak Supervision, ICLR 2019. [paper]
- Generative Multi-Agent Behavioral Cloning, ICML 2018. [paper]
- Where Will They Go? Predicting Fine-Grained Adversarial Multi-Agent Motion using Conditional Variational Autoencoders, ECCV 2018. [paper]
- Coordinated Multi-Agent Imitation Learning, ICML 2017. [paper]
- Generating long-term trajectories using deep hierarchical networks, 2017. [paper]
- Learning Fine-Grained Spatial Models for Dynamic Sports Play Prediction, ICDM 2014. [paper]
- Generative Modeling of Multimodal Multi-Human Behavior, 2018. [paper]
- What will Happen Next? Forecasting Player Moves in Sports Videos, ICCV 2017, [paper]
Benchmark and Evaluation Metrics
- A Preprocessing and Evaluation Toolbox for Trajectory Prediction Research on the Drone Datasets, arXiv preprint arXiv:2405.00604, 2024. [paper] [code]
- Social-Implicit: Rethinking Trajectory Prediction Evaluation and The Effectiveness of Implicit Maximum Likelihood Estimation, ECCV 2022. [paper] [code]
- OpenTraj: Assessing Prediction Complexity in Human Trajectories Datasets, ACCV 2020. [paper] [code]
- Testing the Safety of Self-driving Vehicles by Simulating Perception and Prediction, ECCV 2020. [paper]
- PIE: A Large-Scale Dataset and Models for Pedestrian Intention Estimation and Trajectory Prediction, ICCV 2019. [paper]
- Towards a fatality-aware benchmark of probabilistic reaction prediction in highly interactive driving scenarios, ITSC 2018. [paper]
- How good is my prediction? Finding a similarity measure for trajectory prediction evaluation, ITSC 2017. [paper]
- Trajnet: Towards a benchmark for human trajectory prediction. [website]
Others
- Pose Based Start Intention Detection of Cyclists, ITSC 2019. [paper]
- Cyclist trajectory prediction using bidirectional recurrent neural networks, AI 2018. [paper]
- Road infrastructure indicators for trajectory prediction, 2018. [paper]
- Using road topology to improve cyclist path prediction, 2017. [paper]
- Trajectory prediction of cyclists using a physical model and an artificial neural network, 2016. [paper]