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: [email protected]; {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

• Datasets
  • Vehicles and Traffic
  • Pedestrians
  • Sport Players
• Literature and Codes
  • Survey Papers
  • Physics Systems with Interaction
  • Intelligent Vehicles and Pedestrians
  • Mobile Robots
  • Sport Players
  • Benchmark and Evaluation Metrics
  • Others

Datasets

Vehicles and Traffic

Pedestrians

Sport Players

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]
• Semi-supervised Semantics-guided Adversarial Training for Trajectory Prediction, arXiv preprint arXiv:2205.14230, 2022. [paper]
• Heterogeneous Trajectory Forecasting via Risk and Scene Graph Learning, arXiv preprint arXiv:2211.00848, 2022. [paper]
• GATraj: A Graph- and Attention-based Multi-Agent Trajectory Prediction Model, arXiv preprint arXiv:2209.07857, 2022. [paper] [code]
• Dynamic-Group-Aware Networks for Multi-Agent Trajectory Prediction with Relational Reasoning, arXiv preprint arXiv:2206.13114, 2022. [paper]
• Collaborative Uncertainty Benefits Multi-Agent Multi-Modal Trajectory Forecasting, arXiv preprint arXiv:2207.05195, 2022. [paper] [code]
• Guided Conditional Diffusion for Controllable Traffic Simulation, arXiv preprint arXiv:2210.17366, 2022. [paper] [website]
• PhysDiff: Physics-Guided Human Motion Diffusion Model, arXiv preprint arXiv:2212.02500, 2022. [paper]
• MPA: MultiPath++ Based Architecture for Motion Prediction, CVPR Workshop on Autonomous Driving 2022. [paper] [code]
• Collaborative Uncertainty in Multi-Agent Trajectory Forecasting, NeurIPS 2021. [paper]
• GRIN: Generative Relation and Intention Network for Multi-agent Trajectory Prediction, NeurIPS 2021. [paper] [code]
• LibCity: An Open Library for Traffic Prediction, SIGSPATIAL 2021. [paper] [code]
• Predicting Vehicles Trajectories in Urban Scenarios with Transformer Networks and Augmented Information, IEEE Intelligent Vehicles Symposium (IV 2021). [paper]
• Social-STAGE: Spatio-Temporal Multi-Modal Future Trajectory Forecast, ICRA 2021. [paper]
• AVGCN: Trajectory Prediction using Graph Convolutional Networks Guided by Human Attention, ICRA 2021. [paper]
• Exploring Dynamic Context for Multi-path Trajectory Prediction, ICRA 2021. [paper] [code]
• Pedestrian Trajectory Prediction using Context-Augmented Transformer Networks, ICRA 2021. [paper] [code]
• Spectral Temporal Graph Neural Network for Trajectory Prediction, ICRA 2021. [paper]
• Congestion-aware Multi-agent Trajectory Prediction for Collision Avoidance, ICRA 2021. [paper] [code]
• Anticipatory Navigation in Crowds by Probabilistic Prediction of Pedestrian Future Movements, ICRA 2021. [paper]
• AgentFormer: Agent-Aware Transformers for Socio-Temporal Multi-Agent Forecasting, ICCV 2021. [paper] [code] [website]
• Likelihood-Based Diverse Sampling for Trajectory Forecasting, ICCV 2021. [paper] [code]
• MG-GAN: A Multi-Generator Model Preventing Out-of-Distribution Samples in Pedestrian Trajectory Prediction, ICCV 2021. [paper] [code]
• Spatial-Temporal Consistency Network for Low-Latency Trajectory Forecasting, ICCV 2021. [paper]
• Three Steps to Multimodal Trajectory Prediction: Modality Clustering, Classification and Synthesis, ICCV 2021. [paper]
• From Goals, Waypoints & Paths To Long Term Human Trajectory Forecasting, ICCV 2021. [paper] [code]
• Where are you heading? Dynamic Trajectory Prediction with Expert Goal Examples, ICCV 2021. [paper] [code]
• DenseTNT: End-to-end Trajectory Prediction from Dense Goal Sets, ICCV 2021. [paper]
• Safety-aware Motion Prediction with Unseen Vehicles for Autonomous Driving, ICCV 2021. [paper] [code]
• LOKI: Long Term and Key Intentions for Trajectory Prediction, ICCV 2021. [paper] [dataset]
• Human Trajectory Prediction via Counterfactual Analysis, ICCV 2021. [paper] [code]
• Personalized Trajectory Prediction via Distribution Discrimination, ICCV 2021. [paper] [code]
• Unlimited Neighborhood Interaction for Heterogeneous Trajectory Prediction, ICCV 2021. [paper] [code]
• Social NCE: Contrastive Learning of Socially-aware Motion Representations, ICCV 2021. [paper] [code]
• RAIN: Reinforced Hybrid Attention Inference Network for Motion Forecasting, ICCV 2021. [paper]
• Temporal Pyramid Network for Pedestrian Trajectory Prediction with Multi-Supervision, AAAI 2021. [paper]
• SCAN: A Spatial Context Attentive Network for Joint Multi-Agent Intent Prediction, AAAI 2021. [paper]
• Disentangled Multi-Relational Graph Convolutional Network for Pedestrian Trajectory Prediction, AAAI 2021. [paper] [code]
• MotionRNN: A Flexible Model for Video Prediction with Spacetime-Varying Motions, CVPR 2021. [paper]
• Multimodal Motion Prediction with Stacked Transformers, CVPR 2021. [paper] [code] [website]
• SGCN: Sparse Graph Convolution Network for Pedestrian Trajectory Prediction, CVPR 2021. [paper] [code]
• LaPred: Lane-Aware Prediction of Multi-Modal Future Trajectories of Dynamic Agents, CVPR 2021. [paper]
• Divide-and-Conquer for Lane-Aware Diverse Trajectory Prediction, CVPR 2021. [paper]
• Euro-PVI: Pedestrian Vehicle Interactions in Dense Urban Centers, CVPR 2021. [paper] [dataset]
• Trajectory Prediction with Latent Belief Energy-Based Model, CVPR 2021. [paper] [code]
• Shared Cross-Modal Trajectory Prediction for Autonomous Driving, CVPR 2021. [paper]
• Pedestrian and Ego-vehicle Trajectory Prediction from Monocular camera, CVPR 2021. [paper] [code]
• Interpretable Social Anchors for Human Trajectory Forecasting in Crowds, CVPR 2021. [paper]
• Introvert: Human Trajectory Prediction via Conditional 3D Attention, CVPR 2021. [paper]
• MP3: A Unified Model to Map, Perceive, Predict and Plan, CVPR 2021. [paper]
• TrafficSim: Learning to Simulate Realistic Multi-Agent Behaviors, CVPR 2021. [paper]
• Multimodal Transformer Network for Pedestrian Trajectory Prediction, IJCAI 2021. [paper] [code]
• Decoder Fusion RNN: Context and Interaction Aware Decoders for Trajectory Prediction, IROS 2021. [paper]
• Joint Intention and Trajectory Prediction Based on Transformer, IROS 2021. [paper]
• Maneuver-based Trajectory Prediction for Self-driving Cars Using Spatio-temporal Convolutional Networks, IROS 2021. [paper]
• Multiple Contextual Cues Integrated Trajectory Prediction for Autonomous Driving, IROS 2021. [paper]
• MultiXNet: Multiclass Multistage Multimodal Motion Prediction, IEEE Intelligent Vehicles Symposium (IV 2021). [paper]
• Trajectory Prediction for Autonomous Driving based on Multi-Head Attention with Joint Agent-Map Representation, IEEE Intelligent Vehicles Symposium (IV 2021). [paper]
• Social-IWSTCNN: A Social Interaction-Weighted Spatio-Temporal Convolutional Neural Network for Pedestrian Trajectory Prediction in Urban Traffic Scenarios, IV 2021. [paper]
• Generating Scenarios with Diverse Pedestrian Behaviors for Autonomous Vehicle Testing, Conference on Robot Learning (CoRL 2021). [paper] [code]
• Multimodal Trajectory Prediction Conditioned on Lane-Graph Traversals, CoRL 2021. [paper] [code]
• Learning to Predict Vehicle Trajectories with Model-based Planning, CoRL 2021. [paper]
• Pose Based Trajectory Forecast of Vulnerable Road Users Using Recurrent Neural Networks, International Conference on Pattern Recognition (ICPR 2021). [paper]
• GraphTCN: Spatio-Temporal Interaction Modeling for Human Trajectory Prediction, WACV 2021. [paper]
• Goal-driven Long-Term Trajectory Prediction, WACV 2021. [paper]
• Multimodal Trajectory Predictions for Autonomous Driving without a Detailed Prior Map, WACV 2021. [paper]
• Self-Growing Spatial Graph Network for Context-Aware Pedestrian Trajectory Prediction, IEEE International Conference on Image Processing (ICIP 2021). [paper] [code]
• S2TNet: Spatio-Temporal Transformer Networks for Trajectory Prediction in Autonomous Driving, Asian Conference on Machine Learning 2021. [paper] [code]
• Learning Structured Representations of Spatial and Interactive Dynamics for Trajectory Prediction in Crowded Scenes, IEEE Robotics and Automation Letters 2021 [paper], [code]
• Trajectory Prediction using Equivariant Continuous Convolution, ICLR 2021. [paper] [code]
• TridentNet: A Conditional Generative Model for Dynamic Trajectory Generation, International Conference on Intelligent Autonomous Systems 2021. [paper]
• HOME: Heatmap Output for future Motion Estimation, ITSC 2021. [paper]
• Graph and Recurrent Neural Network-based Vehicle Trajectory Prediction For Highway Driving, ITSC 2021. [paper]
• SCSG Attention: A Self-Centered Star Graph with Attention for Pedestrian Trajectory Prediction, International Conference on Database Systems for Advanced Applications (DASFAA 2021). [paper]
• Leveraging Trajectory Prediction for Pedestrian Video Anomaly Detection, IEEE Symposium Series on Computational Intelligence (SSCI 2021). [paper] [code]
• Are socially-aware trajectory prediction models really socially-aware?, Transportation Research: Part C. [paper, paper] [code]
• Injecting knowledge in data-driven vehicle trajectory predictors, Transportation Research: Part C. [paper] [code]
• Decoding pedestrian and automated vehicle interactions using immersive virtual reality and interpretable deep learning, Transportation Research: Part C. [paper]
• Human Trajectory Forecasting in Crowds: A Deep Learning Perspective, IEEE Transactions on Intelligent Transportation Systems. [paper] [code]
• NetTraj: A Network-Based Vehicle Trajectory Prediction Model With Directional Representation and Spatiotemporal Attention Mechanisms, TITS. [paper]
• Spatio-Temporal Graph Dual-Attention Network for Multi-Agent Prediction and Tracking, TITS. [paper]
• A Hierarchical Framework for Interactive Behaviour Prediction of Heterogeneous Traffic Participants Based on Graph Neural Network, TITS. [paper]
• TrajGAIL: Generating urban vehicle trajectories using generative adversarial imitation learning, Transportation Research Part C. [paper] [code]
• Vehicle Trajectory Prediction Using Generative Adversarial Network With Temporal Logic Syntax Tree Features, IEEE ROBOTICS AND AUTOMATION LETTERS. [paper]
• Vehicle Trajectory Prediction Using LSTMs with Spatial-Temporal Attention Mechanisms, IEEE Intelligent Transportation Systems Magazine. [paper] [code]
• Long Short-Term Memory-Based Human-Driven Vehicle Longitudinal Trajectory Prediction in a Connected and Autonomous Vehicle Environment, Transportation Research Record. [paper]
• Temporal Pyramid Network with Spatial-Temporal Attention for Pedestrian Trajectory Prediction, IEEE Transactions on Network Science and Engineering. [paper]
• An efficient Spatial–Temporal model based on gated linear units for trajectory prediction, Neurocomputing. [paper]
• SRAI-LSTM: A Social Relation Attention-based Interaction-aware LSTM for human trajectory prediction, Neurocomputing. [paper]
• AST-GNN: An attention-based spatio-temporal graph neural network for Interaction-aware pedestrian trajectory prediction, Neurocomputing. [paper]
• Multi-PPTP: Multiple Probabilistic Pedestrian Trajectory Prediction in the Complex Junction Scene, IEEE Transactions on Intelligent Transportation Systems. [paper]
• A Novel Graph-Based Trajectory Predictor With Pseudo-Oracle, TNNLS. [paper]
• Large Scale GPS Trajectory Generation Using Map Based on Two Stage GAN, Journal of Data Science. [paper] [code]
• Pose and Semantic Map Based Probabilistic Forecast of Vulnerable Road Users’ Trajectories, IEEE Transactions on Intelligent Vehicles. [paper]
• STI-GAN: Multimodal Pedestrian Trajectory Prediction Using Spatiotemporal Interactions and a Generative Adversarial Network, IEEE Access. [paper]
• Holistic LSTM for Pedestrian Trajectory Prediction, TIP. [paper]
• Pedestrian trajectory prediction with convolutional neural networks, PR. [paper]
• LSTM based trajectory prediction model for cyclist utilizing multiple interactions with environment, PR. [paper]
• Human trajectory prediction and generation using LSTM models and GANs, PR. [paper]
• Vehicle trajectory prediction and generation using LSTM models and GANs, Plos one. [paper]
• BiTraP: Bi-Directional Pedestrian Trajectory Prediction With Multi-Modal Goal Estimation, RAL. [paper] [code]
• A Kinematic Model for Trajectory Prediction in General Highway Scenarios, RAL. [paper] [code]
• Trajectory Prediction in Autonomous Driving With a Lane Heading Auxiliary Loss, RAL. [paper]
• Vehicle Trajectory Prediction Using Generative Adversarial Network With Temporal Logic Syntax Tree Features, RAL. [paper]
• Tra2Tra: Trajectory-to-Trajectory Prediction With a Global Social Spatial-Temporal Attentive Neural Network, RAL. [paper]
• Social graph convolutional LSTM for pedestrian trajectory prediction, IET Intelligent Transport Systems. [paper]
• HSTA: A Hierarchical Spatio-Temporal Attention Model for Trajectory Prediction, IEEE Transactions on Vehicular Technology (TVT). [paper]
• Environment-Attention Network for Vehicle Trajectory Prediction, TVT. [paper]
• Where Are They Going? Predicting Human Behaviors in Crowded Scenes, ACM Transactions on Multimedia Computing, Communications, and Applications (TOMM). [paper]
• Multi-Agent Trajectory Prediction with Spatio-Temporal Sequence Fusion, IEEE Transactions on Multimedia (TMM). [paper]
• EvolveGraph: Multi-Agent Trajectory Prediction with Dynamic Relational Reasoning, NeurIPS 2020. [paper]
• V2VNet- Vehicle-to-Vehicle Communication for Joint Perception and Prediction, ECCV 2020. [paper]
• SMART- Simultaneous Multi-Agent Recurrent Trajectory Prediction, ECCV 2020. [paper]
• SimAug- Learning Robust Representations from Simulation for Trajectory Prediction, ECCV 2020. [paper]
• Learning Lane Graph Representations for Motion Forecasting, ECCV 2020. [paper]
• Implicit Latent Variable Model for Scene-Consistent Motion Forecasting, ECCV 2020. [paper]
• Diverse and Admissible Trajectory Forecasting through Multimodal Context Understanding, ECCV 2020. [paper]
• Semantic Synthesis of Pedestrian Locomotion, ACCV 2020. [Paper]
• Kernel Trajectory Maps for Multi-Modal Probabilistic Motion Prediction, CoRL 2019. [paper] [code]
• Social-WaGDAT: Interaction-aware Trajectory Prediction via Wasserstein Graph Double-Attention Network, 2020. [paper]
• Social NCE: Contrastive Learning of Socially-aware Motion Representations. [paper], [code]
• Pose Based Trajectory Forecast of Vulnerable Road Users Using Recurrent Neural Networks, ICPR International Workshops and Challenges 2020. [paper]
• EvolveGraph: Multi-Agent Trajectory Prediction with Dynamic Relational Reasoning, NeurIPS 2020. [paper]
• Spatio-Temporal Graph Transformer Networks for Pedestrian Trajectory Prediction, ECCV 2020. [paper]
• It is not the Journey but the Destination- Endpoint Conditioned Trajectory Prediction, ECCV 2020. [paper]
• How Can I See My Future? FvTraj: Using First-person View for Pedestrian Trajectory Prediction, ECCV 2020. [paper]
• Dynamic and Static Context-aware LSTM for Multi-agent Motion Prediction, ECCV 2020. [paper]
• Human Trajectory Forecasting in Crowds: A Deep Learning Perspective, 2020. [paper], [code]
• SimAug: Learning Robust Representations from 3D Simulation for Pedestrian Trajectory Prediction in Unseen cameras, ECCV 2020. [paper], [code]
• DAG-Net: Double Attentive Graph Neural Network for Trajectory Forecasting, ICPR 2020. [paper] [code]
• Disentangling Human Dynamics for Pedestrian Locomotion Forecasting with Noisy Supervision, WACV 2020. [paper]
• Social-WaGDAT: Interaction-aware Trajectory Prediction via Wasserstein Graph Double-Attention Network, 2020. [paper]
• Social-STGCNN: A Social Spatio-Temporal Graph Convolutional Neural Network for Human Trajectory Prediction, CVPR 2020. [Paper], [Code]
• The Garden of Forking Paths: Towards Multi-Future Trajectory Prediction, CVPR 2020. [paper], [code/dataset]
• Disentangling Human Dynamics for Pedestrian Locomotion Forecasting with Noisy Supervision, WACV 2020. [paper]
• Pose Based Trajectory Forecast of Vulnerable Road Users, SSCI 2019. [paper]
• The Trajectron: Probabilistic Multi-Agent Trajectory Modeling With Dynamic Spatiotemporal Graphs, ICCV 2019. [paper] [code]
• STGAT: Modeling Spatial-Temporal Interactions for Human Trajectory Prediction, ICCV 2019. [paper] [code]
• Instance-Level Future Motion Estimation in a Single Image Based on Ordinal Regression, ICCV 2019. [paper]
• Social and Scene-Aware Trajectory Prediction in Crowded Spaces, ICCV workshop 2019. [paper] [code]
• Stochastic Sampling Simulation for Pedestrian Trajectory Prediction, IROS 2019. [paper]
• Long-Term Prediction of Motion Trajectories Using Path Homology Clusters, IROS 2019. [paper]
• StarNet: Pedestrian Trajectory Prediction Using Deep Neural Network in Star Topology, IROS 2019. [paper]
• Learning Generative Socially-Aware Models of Pedestrian Motion, IROS 2019. [paper]
• Situation-Aware Pedestrian Trajectory Prediction with Spatio-Temporal Attention Model, CVWW 2019. [paper]
• Path predictions using object attributes and semantic environment, VISIGRAPP 2019. [paper]
• Probabilistic Path Planning using Obstacle Trajectory Prediction, CoDS-COMAD 2019. [paper]
• Human Trajectory Prediction using Adversarial Loss, hEART 2019. [paper], [code]
• Social Ways: Learning Multi-Modal Distributions of Pedestrian Trajectories with GANs, CVPR 2019. [Precognition Workshop], [paper], [code]
• Peeking into the Future: Predicting Future Person Activities and Locations in Videos, CVPR 2019. [paper], [code]
• Learning to Infer Relations for Future Trajectory Forecast, CVPR 2019. [paper]
• TraPHic: Trajectory Prediction in Dense and Heterogeneous Traffic Using Weighted Interactions, CVPR 2019. [paper]
• Which Way Are You Going? Imitative Decision Learning for Path Forecasting in Dynamic Scenes, CVPR 2019. [paper]
• Overcoming Limitations of Mixture Density Networks: A Sampling and Fitting Framework for Multimodal Future Prediction, CVPR 2019. [paper][code]
• Sophie: An attentive gan for predicting paths compliant to social and physical constraints, CVPR 2019. [paper][code]
• Pedestrian path, pose, and intention prediction through gaussian process dynamical models and pedestrian activity recognition, 2019. [paper]
• Multimodal Interaction-aware Motion Prediction for Autonomous Street Crossing, 2019. [paper]
• The simpler the better: Constant velocity for pedestrian motion prediction, 2019. [paper]
• Pedestrian trajectory prediction in extremely crowded scenarios, 2019. [paper]
• Srlstm: State refinement for lstm towards pedestrian trajectory prediction, 2019. [paper]
• Location-velocity attention for pedestrian trajectory prediction, WACV 2019. [paper]
• Pedestrian Trajectory Prediction in Extremely Crowded Scenarios, Sensors, 2019. [paper]
• Forecasting Trajectory and Behavior of Road-Agents Using Spectral Clustering in Graph-LSTMs, 2019. [paper] [code]
• Joint Prediction for Kinematic Trajectories in Vehicle-Pedestrian-Mixed Scenes, ICCV 2019. [paper]
• Analyzing the Variety Loss in the Context of Probabilistic Trajectory Prediction, ICCV 2019. [paper]
• Looking to Relations for Future Trajectory Forecast, ICCV 2019. [paper]
• Jointly Learnable Behavior and Trajectory Planning for Self-Driving Vehicles, IROS 2019. [paper]
• Sharing Is Caring: Socially-Compliant Autonomous Intersection Negotiation, IROS 2019. [paper]
• INFER: INtermediate Representations for FuturE PRediction, IROS 2019. [paper] [code]
• Deep Predictive Autonomous Driving Using Multi-Agent Joint Trajectory Prediction and Traffic Rules, IROS 2019. [paper]
• NeuroTrajectory: A Neuroevolutionary Approach to Local State Trajectory Learning for Autonomous Vehicles, IROS 2019. [paper]
• Urban Street Trajectory Prediction with Multi-Class LSTM Networks, IROS 2019. [N/A]
• Spatiotemporal Learning of Directional Uncertainty in Urban Environments with Kernel Recurrent Mixture Density Networks, IROS 2019. [paper]
• Conditional generative neural system for probabilistic trajectory prediction, IROS 2019. [paper]
• Interaction-aware multi-agent tracking and probabilistic behavior prediction via adversarial learning, ICRA 2019. [paper]
• Generic Tracking and Probabilistic Prediction Framework and Its Application in Autonomous Driving, IEEE Trans. Intell. Transport. Systems, 2019. [paper]
• Coordination and trajectory prediction for vehicle interactions via bayesian generative modeling, IV 2019. [paper]
• Wasserstein generative learning with kinematic constraints for probabilistic interactive driving behavior prediction, IV 2019. [paper]
• GRIP: Graph-based Interaction-aware Trajectory Prediction, ITSC 2019. [paper]
• AGen: Adaptable Generative Prediction Networks for Autonomous Driving, IV 2019. [paper]
• TraPHic: Trajectory Prediction in Dense and Heterogeneous Traffic Using Weighted Interactions, CVPR 2019. [paper], [code]
• Multi-Step Prediction of Occupancy Grid Maps with Recurrent Neural Networks, CVPR 2019. [paper]
• Argoverse: 3D Tracking and Forecasting With Rich Maps, CVPR 2019 [paper]
• Robust Aleatoric Modeling for Future Vehicle Localization, CVPR 2019. [paper]
• Pedestrian occupancy prediction for autonomous vehicles, IRC 2019. [paper]
• Context-based path prediction for targets with switching dynamics, 2019.[paper]
• Deep Imitative Models for Flexible Inference, Planning, and Control, 2019. [paper]
• Infer: Intermediate representations for future prediction, 2019. [paper][code]
• Multi-agent tensor fusion for contextual trajectory prediction, 2019. [paper]
• Context-Aware Pedestrian Motion Prediction In Urban Intersections, 2018. [paper]
• Generic probabilistic interactive situation recognition and prediction: From virtual to real, ITSC 2018. [paper]
• Generic vehicle tracking framework capable of handling occlusions based on modified mixture particle filter, IV 2018. [paper]
• Multi-Modal Trajectory Prediction of Surrounding Vehicles with Maneuver based LSTMs, 2018. [paper]
• Sequence-to-sequence prediction of vehicle trajectory via lstm encoder-decoder architecture, 2018. [paper]
• R2P2: A ReparameteRized Pushforward Policy for diverse, precise generative path forecasting, ECCV 2018. [paper]
• Predicting trajectories of vehicles using large-scale motion priors, IV 2018. [paper]
• Vehicle trajectory prediction by integrating physics-and maneuver based approaches using interactive multiple models, 2018. [paper]
• Motion Prediction of Traffic Actors for Autonomous Driving using Deep Convolutional Networks, 2018. [paper]
• Generative multi-agent behavioral cloning, 2018. [paper]
• Deep Sequence Learning with Auxiliary Information for Traffic Prediction, KDD 2018. [paper], [code]
• A data-driven model for interaction-aware pedestrian motion prediction in object cluttered environments, ICRA 2018. [paper]
• Move, Attend and Predict: An attention-based neural model for people’s movement prediction, Pattern Recognition Letters 2018. [paper]
• GD-GAN: Generative Adversarial Networks for Trajectory Prediction and Group Detection in Crowds, ACCV 2018, [paper], [demo]
• Ss-lstm: a hierarchical lstm model for pedestrian trajectory prediction, WACV 2018. [paper]
• Social Attention: Modeling Attention in Human Crowds, ICRA 2018. [paper][code]
• Pedestrian prediction by planning using deep neural networks, ICRA 2018. [paper]
• Joint long-term prediction of human motion using a planning-based social force approach, ICRA 2018. [paper]
• Human motion prediction under social grouping constraints, IROS 2018. [paper]
• Future Person Localization in First-Person Videos, CVPR 2018. [paper]
• Social GAN: Socially Acceptable Trajectories with Generative Adversarial Networks, CVPR 2018. [paper][code]
• Group LSTM: Group Trajectory Prediction in Crowded Scenarios, ECCV 2018. [paper]
• Mx-lstm: mixing tracklets and vislets to jointly forecast trajectories and head poses, CVPR 2018. [paper]
• Intent prediction of pedestrians via motion trajectories using stacked recurrent neural networks, 2018. [paper]
• Transferable pedestrian motion prediction models at intersections, 2018. [paper]
• Probabilistic map-based pedestrian motion prediction taking traffic participants into consideration, 2018. [paper]
• A Computationally Efficient Model for Pedestrian Motion Prediction, ECC 2018. [paper]
• Context-aware trajectory prediction, ICPR 2018. [paper]
• Set-based prediction of pedestrians in urban environments considering formalized traffic rules, ITSC 2018. [paper]
• Building prior knowledge: A markov based pedestrian prediction model using urban environmental data, ICARCV 2018. [paper]
• Depth Information Guided Crowd Counting for Complex Crowd Scenes, 2018. [paper]
• Tracking by Prediction: A Deep Generative Model for Mutli-Person Localisation and Tracking, WACV 2018. [paper]
• “Seeing is Believing”: Pedestrian Trajectory Forecasting Using Visual Frustum of Attention, WACV 2018. [paper]
• Long-Term On-Board Prediction of People in Traffic Scenes under Uncertainty, CVPR 2018. [paper], [code+data]
• Encoding Crowd Interaction with Deep Neural Network for Pedestrian Trajectory Prediction, CVPR 2018. [paper], [code]
• Multipolicy decision-making for autonomous driving via changepoint-based behavior prediction, 2017. [paper]
• Probabilistic long-term prediction for autonomous vehicles, IV 2017. [paper]
• Probabilistic vehicle trajectory prediction over occupancy grid map via recurrent neural network, ITSC 2017. [paper]
• Desire: Distant future prediction in dynamic scenes with interacting agents, CVPR 2017. [paper][code]
• Imitating driver behavior with generative adversarial networks, 2017. [paper][code]
• Infogail: Interpretable imitation learning from visual demonstrations, 2017. [paper][code]
• Long-term planning by short-term prediction, 2017. [paper]
• Long-term path prediction in urban scenarios using circular distributions, 2017. [paper]
• Deep learning driven visual path prediction from a single image, 2016. [paper]
• Walking Ahead: The Headed Social Force Model, 2017. [paper]
• Real-time certified probabilistic pedestrian forecasting, 2017. [paper]
• A multiple-predictor approach to human motion prediction, ICRA 2017. [paper]
• Forecasting interactive dynamics of pedestrians with fictitious play, CVPR 2017. [paper]
• Forecast the plausible paths in crowd scenes, IJCAI 2017. [paper]
• Bi-prediction: pedestrian trajectory prediction based on bidirectional lstm classification, DICTA 2017. [paper]
• Aggressive, Tense or Shy? Identifying Personality Traits from Crowd Videos, IJCAI 2017. [paper]
• Natural vision based method for predicting pedestrian behaviour in urban environments, ITSC 2017. [paper]
• Human Trajectory Prediction using Spatially aware Deep Attention Models, 2017. [paper]
• Soft + Hardwired Attention: An LSTM Framework for Human Trajectory Prediction and Abnormal Event Detection, 2017. [paper]
• Forecasting Interactive Dynamics of Pedestrians with Fictitious Play, CVPR 2017. [paper]
• Social LSTM: Human trajectory prediction in crowded spaces, CVPR 2016. [paper][code]
• Comparison and evaluation of pedestrian motion models for vehicle safety systems, ITSC 2016. [paper]
• Age and Group-driven Pedestrian Behaviour: from Observations to Simulations, 2016. [paper]
• Structural-RNN: Deep learning on spatio-temporal graphs, CVPR 2016. [paper][code]
• Intent-aware long-term prediction of pedestrian motion, ICRA 2016. [paper]
• Context-based detection of pedestrian crossing intention for autonomous driving in urban environments, IROS 2016. [paper]
• Novel planning-based algorithms for human motion prediction, ICRA 2016. [paper]
• Learning social etiquette: Human trajectory understanding in crowded scenes, ECCV 2016. [paper][code]
• GLMP-realtime pedestrian path prediction using global and local movement patterns, ICRA 2016. [paper]
• Knowledge transfer for scene-specific motion prediction, ECCV 2016. [paper]
• STF-RNN: Space Time Features-based Recurrent Neural Network for predicting People Next Location, SSCI 2016. [code]
• Goal-directed pedestrian prediction, ICCV 2015. [paper]
• Trajectory analysis and prediction for improved pedestrian safety: Integrated framework and evaluations, 2015. [paper]
• Predicting and recognizing human interactions in public spaces, 2015. [paper]
• Learning collective crowd behaviors with dynamic pedestrian-agents, 2015. [paper]
• Modeling spatial-temporal dynamics of human movements for predicting future trajectories, AAAI 2015. [paper]
• Unsupervised robot learning to predict person motion, ICRA 2015. [paper]
• A controlled interactive multiple model filter for combined pedestrian intention recognition and path prediction, ITSC 2015. [paper]
• Real-Time Predictive Modeling and Robust Avoidance of Pedestrians with Uncertain, Changing Intentions, 2014. [paper]
• Behavior estimation for a complete framework for human motion prediction in crowded environments, ICRA 2014. [paper]
• Pedestrian’s trajectory forecast in public traffic with artificial neural network, ICPR 2014. [paper]
• Will the pedestrian cross? A study on pedestrian path prediction, 2014. [paper]
• BRVO: Predicting pedestrian trajectories using velocity-space reasoning, 2014. [paper]
• Context-based pedestrian path prediction, ECCV 2014. [paper]
• Pedestrian path prediction using body language traits, 2014. [paper]
• Online maneuver recognition and multimodal trajectory prediction for intersection assistance using non-parametric regression, 2014. [paper]
• Learning intentions for improved human motion prediction, 2013. [paper]
• Understanding interactions between traffic participants based on learned behaviors, 2016. [paper]
• Visual path prediction in complex scenes with crowded moving objects, CVPR 2016. [paper]
• A game-theoretic approach to replanning-aware interactive scene prediction and planning, 2016. [paper]
• Intention-aware online pomdp planning for autonomous driving in a crowd, ICRA 2015. [paper]
• Online maneuver recognition and multimodal trajectory prediction for intersection assistance using non-parametric regression, 2014. [paper]
• Patch to the future: Unsupervised visual prediction, CVPR 2014. [paper]
• Mobile agent trajectory prediction using bayesian nonparametric reachability trees, 2011. [paper]

Mobile Robots

• Anticipatory Navigation in Crowds by Probabilistic Prediction of Pedestrian Future Movements, ICRA 2021. [paper]
• Social NCE: Contrastive Learning of Socially-aware Motion Representations. [paper], [code]
• Multimodal probabilistic model-based planning for human-robot interaction, ICRA 2018. [paper][code]
• Decentralized Non-communicating Multiagent Collision Avoidance with Deep Reinforcement Learning, ICRA 2017. [paper]
• Augmented dictionary learning for motion prediction, ICRA 2016. [paper]
• Predicting future agent motions for dynamic environments, ICMLA 2016. [paper]
• Bayesian intention inference for trajectory prediction with an unknown goal destination, IROS 2015. [paper]
• Learning to predict trajectories of cooperatively navigating agents, ICRA 2014. [paper]

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]
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