mlsanityData to 7 Oct 2026

SoPhie: An Attentive GAN for Predicting Paths Compliant to Social and Physical Constraints

arXiv 1806.01482 ↗First posted 5 Jun 2018cs.CVcited by 296

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Abstract (arXiv)

This paper addresses the problem of path prediction for multiple interacting agents in a scene, which is a crucial step for many autonomous platforms such as self-driving cars and social robots. We present textitSoPhie; an interpretable framework based on Generative Adversarial Network (GAN), which leverages two sources of information, the path history of all the agents in a scene, and the scene context information, using images of the scene. To predict a future path for an agent, both physical and social information must be leveraged. Previous work has not been successful to jointly model physical and social interactions. Our approach blends a social attention mechanism with a physical attention that helps the model to learn where to look in a large scene and extract the most salient parts of the image relevant to the path. Whereas, the social attention component aggregates information across the different agent interactions and extracts the most important trajectory information from the surrounding neighbors. SoPhie also takes advantage of GAN to generates more realistic samples and to capture the uncertain nature of the future paths by modeling its distribution. All these mechanisms enable our approach to predict socially and physically plausible paths for the agents and to achieve state-of-the-art performance on several different trajectory forecasting benchmarks.

Key facts. Cited by 296 papers in the map (data through 7 Oct 2026). First posted on arXiv 5 Jun 2018.

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Citing papers per year: 2021: 80; 2022: 62; 2023: 58; 2024: 50; 2025: 31; 2026: 15.

296 papers.

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  1. 2022TransFuser: Imitation with Transformer-Based Sensor Fusion for Autonomous Drivingcited by 477
  2. 2021Multi-Modal Fusion Transformer for End-to-End Autonomous Drivingcited by 372
  3. 2021AgentFormer: Agent-Aware Transformers for Socio-Temporal Multi-Agent Forecastingcited by 327
  4. 2021Multimodal Motion Prediction with Stacked Transformerscited by 207
  5. 2021Stochastic Scene-Aware Motion Predictioncited by 203
  6. 2022Stochastic Trajectory Prediction via Motion Indeterminacy Diffusioncited by 184
  7. 2021GOHOME: Graph-Oriented Heatmap Output for future Motion Estimationcited by 146
  8. 2023Leapfrog Diffusion Model for Stochastic Trajectory Predictioncited by 129
  9. 2022GroupNet: Multiscale Hypergraph Neural Networks for Trajectory Prediction with Relational Reasoningcited by 128
  10. 2021LaneRCNN: Distributed Representations for Graph-Centric Motion Forecastingcited by 112
  11. 2021THOMAS: Trajectory Heatmap Output with learned Multi-Agent Samplingcited by 101
  12. 2021SGCN:Sparse Graph Convolution Network for Pedestrian Trajectory Predictioncited by 97
38 more
  1. 2021SAGA: Stochastic Whole-Body Grasping with Contactcited by 89
  2. 2022Remember Intentions: Retrospective-Memory-based Trajectory Predictioncited by 86
  3. 2022Human Trajectory Prediction via Neural Social Physicscited by 66
  4. 2022SocialVAE: Human Trajectory Prediction using Timewise Latentscited by 65
  5. 2021LaPred: Lane-Aware Prediction of Multi-Modal Future Trajectories of Dynamic Agentscited by 64
  6. 2021Learning to Predict Vehicle Trajectories with Model-based Planningcited by 63
  7. 2021Multi-Person 3D Motion Prediction with Multi-Range Transformerscited by 63
  8. 2022ScePT: Scene-consistent, Policy-based Trajectory Predictions for Planningcited by 63
  9. 2021Stepwise Goal-Driven Networks for Trajectory Predictioncited by 62
  10. 2021MG-GAN: A Multi-Generator Model Preventing Out-of-Distribution Samples in Pedestrian Trajectory Predictioncited by 61
  11. 2021Trajectory Prediction with Latent Belief Energy-Based Modelcited by 60
  12. 2022MUSE-VAE: Multi-Scale VAE for Environment-Aware Long Term Trajectory Predictioncited by 59
  13. 2021LOKI: Long Term and Key Intentions for Trajectory Predictioncited by 57
  14. 2021TRiPOD: Human Trajectory and Pose Dynamics Forecasting in the Wildcited by 52
  15. 2022Adaptive Trajectory Prediction via Transferable GNNcited by 51
  16. 2021Attention, please! A survey of Neural Attention Models in Deep Learningcited by 50
  17. 2023LAformer: Trajectory Prediction for Autonomous Driving with Lane-Aware Scene Constraintscited by 50
  18. 2021On Exposing the Challenging Long Tail in Future Prediction of Traffic Actorscited by 48
  19. 2021MobTCast: Leveraging Auxiliary Trajectory Forecasting for Human Mobility Predictioncited by 48
  20. 2023Uncovering the Missing Pattern: Unified Framework Towards Trajectory Imputation and Predictioncited by 47
  21. 2021Three Steps to Multimodal Trajectory Prediction: Modality Clustering, Classification and Synthesiscited by 46
  22. 2022Non-Probability Sampling Network for Stochastic Human Trajectory Predictioncited by 46
  23. 2021Interpretable Social Anchors for Human Trajectory Forecasting in Crowdscited by 44
  24. 2021View Vertically: A Hierarchical Network for Trajectory Prediction via Fourier Spectrumscited by 44
  25. 2022Learning Pedestrian Group Representations for Multi-modal Trajectory Predictioncited by 44
  26. 2021Human Trajectory Prediction via Counterfactual Analysiscited by 42
  27. 2021Spatio-Temporal Dynamic Inference Network for Group Activity Recognitioncited by 42
  28. 2023Traj-MAE: Masked Autoencoders for Trajectory Predictioncited by 42
  29. 2023Task-Oriented Human-Object Interactions Generation with Implicit Neural Representationscited by 41
  30. 2023EigenTrajectory: Low-Rank Descriptors for Multi-Modal Trajectory Forecastingcited by 41
  31. 2022Social-Implicit: Rethinking Trajectory Prediction Evaluation and The Effectiveness of Implicit Maximum Likelihood Estimationcited by 40
  32. 2021Divide-and-Conquer for Lane-Aware Diverse Trajectory Predictioncited by 37
  33. 2024HPNet: Dynamic Trajectory Forecasting with Historical Prediction Attentioncited by 37
  34. 2021Spectral Temporal Graph Neural Network for Trajectory Predictioncited by 36
  35. 2022Graph-based Spatial Transformer with Memory Replay for Multi-future Pedestrian Trajectory Predictioncited by 36
  36. 2021Spatio-Temporal Graph Dual-Attention Network for Multi-Agent Prediction and Trackingcited by 35
  37. 2022How many Observations are Enough? Knowledge Distillation for Trajectory Forecastingcited by 35
  38. 2024SingularTrajectory: Universal Trajectory Predictor Using Diffusion Modelcited by 35

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