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Awesome Interaction-Aware Behavior and Trajectory Prediction

Awesome Version LastUpdated Topic

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

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]
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  • 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]
  • Trajectory prediction of cyclists using a physical model and an artificial neural network, 2016. [paper]

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A selection of state-of-the-art research materials on trajectory prediction

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machine-learning computer-vision deep-learning paper traffic artificial-intelligence trajectory-generation social-interactions multiagent-systems behavior-analysis autonomous-driving autonomous-vehicles trajectory-prediction multiagent-learning human-trajectory-prediction motion-prediction behavior-prediction path-predictions vehicle-trajectory pedestrian-trajectories

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