mlsanityData to 7 Oct 2026

Multi-Agent Tensor Fusion for Contextual Trajectory Prediction

arXiv 1904.04776 ↗First posted 9 Apr 2019cs.CV cs.LGcited by 131

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Abstract (arXiv)

Accurate prediction of others' trajectories is essential for autonomous driving. Trajectory prediction is challenging because it requires reasoning about agents' past movements, social interactions among varying numbers and kinds of agents, constraints from the scene context, and the stochasticity of human behavior. Our approach models these interactions and constraints jointly within a novel Multi-Agent Tensor Fusion (MATF) network. Specifically, the model encodes multiple agents' past trajectories and the scene context into a Multi-Agent Tensor, then applies convolutional fusion to capture multiagent interactions while retaining the spatial structure of agents and the scene context. The model decodes recurrently to multiple agents' future trajectories, using adversarial loss to learn stochastic predictions. Experiments on both highway driving and pedestrian crowd datasets show that the model achieves state-of-the-art prediction accuracy.

Key facts. Cited by 131 papers in the map (data through 7 Oct 2026). First posted on arXiv 9 Apr 2019.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 35; 2022: 29; 2023: 30; 2024: 18; 2025: 13; 2026: 6.

131 papers.

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  1. 2021AgentFormer: Agent-Aware Transformers for Socio-Temporal Multi-Agent Forecastingcited by 327
  2. 2021MP3: A Unified Model to Map, Perceive, Predict and Plancited by 211
  3. 2022Stochastic Trajectory Prediction via Motion Indeterminacy Diffusioncited by 184
  4. 2021Scene Transformer: A unified architecture for predicting multiple agent trajectoriescited by 165
  5. 2022GroupNet: Multiscale Hypergraph Neural Networks for Trajectory Prediction with Relational Reasoningcited by 128
  6. 2021LaneRCNN: Distributed Representations for Graph-Centric Motion Forecastingcited by 112
  7. 2021Multimodal Trajectory Prediction Conditioned on Lane-Graph Traversalscited by 112
  8. 2022HDGT: Heterogeneous Driving Graph Transformer for Multi-Agent Trajectory Prediction via Scene Encodingcited by 109
  9. 2022M2I: From Factored Marginal Trajectory Prediction to Interactive Predictioncited by 81
  10. 2022BITS: Bi-level Imitation for Traffic Simulationcited by 80
  11. 2021LaPred: Lane-Aware Prediction of Multi-Modal Future Trajectories of Dynamic Agentscited by 64
  12. 2021Learning to Predict Vehicle Trajectories with Model-based Planningcited by 63
38 more
  1. 2022ScePT: Scene-consistent, Policy-based Trajectory Predictions for Planningcited by 63
  2. 2021Stepwise Goal-Driven Networks for Trajectory Predictioncited by 62
  3. 2021Trajectory Prediction with Latent Belief Energy-Based Modelcited by 60
  4. 2021On Exposing the Challenging Long Tail in Future Prediction of Traffic Actorscited by 48
  5. 2022Non-Probability Sampling Network for Stochastic Human Trajectory Predictioncited by 46
  6. 2022Learning Pedestrian Group Representations for Multi-modal Trajectory Predictioncited by 44
  7. 2021Human Trajectory Prediction via Counterfactual Analysiscited by 42
  8. 2023EigenTrajectory: Low-Rank Descriptors for Multi-Modal Trajectory Forecastingcited by 41
  9. 2021Divide-and-Conquer for Lane-Aware Diverse Trajectory Predictioncited by 37
  10. 2021Spectral Temporal Graph Neural Network for Trajectory Predictioncited by 36
  11. 2021Graph-Based Spatial-Temporal Convolutional Network for Vehicle Trajectory Prediction in Autonomous Drivingcited by 36
  12. 2021Spatio-Temporal Graph Dual-Attention Network for Multi-Agent Prediction and Trackingcited by 35
  13. 2024SingularTrajectory: Universal Trajectory Predictor Using Diffusion Modelcited by 35
  14. 2021Imagining The Road Ahead: Multi-Agent Trajectory Prediction via Differentiable Simulationcited by 32
  15. 2024Can Language Beat Numerical Regression? Language-Based Multimodal Trajectory Predictioncited by 31
  16. 2021Personalized Trajectory Prediction via Distribution Discriminationcited by 30
  17. 2021Review of Pedestrian Trajectory Prediction Methods: Comparing Deep Learning and Knowledge-based Approachescited by 30
  18. 2023Implicit Occupancy Flow Fields for Perception and Prediction in Self-Drivingcited by 30
  19. 2023The Integration of Prediction and Planning in Deep Learning Automated Driving Systems: A Reviewcited by 29
  20. 2022Dynamic-Group-Aware Networks for Multi-Agent Trajectory Prediction with Relational Reasoningcited by 28
  21. 2023BAT: Behavior-Aware Human-Like Trajectory Prediction for Autonomous Drivingcited by 28
  22. 2024SIMPL: A Simple and Efficient Multi-agent Motion Prediction Baseline for Autonomous Drivingcited by 27
  23. 2022SMEMO: Social Memory for Trajectory Forecastingcited by 26
  24. 2021CausalCity: Complex Simulations with Agency for Causal Discovery and Reasoningcited by 23
  25. 2022Path-Aware Graph Attention for HD Maps in Motion Predictioncited by 23
  26. 2022R-Pred: Two-Stage Motion Prediction Via Tube-Query Attention-Based Trajectory Refinementcited by 23
  27. 2023Machine Learning for Autonomous Vehicle's Trajectory Prediction: A comprehensive survey, Challenges, and Future Research Directionscited by 23
  28. 2021Congestion-aware Multi-agent Trajectory Prediction for Collision Avoidancecited by 21
  29. 2023EquiDiff: A Conditional Equivariant Diffusion Model For Trajectory Predictioncited by 21
  30. 2024A Cognitive-Based Trajectory Prediction Approach for Autonomous Drivingcited by 20
  31. 2021Heterogeneous-Agent Trajectory Forecasting Incorporating Class Uncertaintycited by 19
  32. 2021Grouptron: Dynamic Multi-Scale Graph Convolutional Networks for Group-Aware Dense Crowd Trajectory Forecastingcited by 19
  33. 2021Trajectory Prediction with Graph-based Dual-scale Context Fusioncited by 19
  34. 2022LatentFormer: Multi-Agent Transformer-Based Interaction Modeling and Trajectory Predictioncited by 19
  35. 2022CSCNet: Contextual Semantic Consistency Network for Trajectory Prediction in Crowded Spacescited by 18
  36. 2022CausalAgents: A Robustness Benchmark for Motion Forecasting using Causal Relationshipscited by 18
  37. 2021Unlimited Neighborhood Interaction for Heterogeneous Trajectory Predictioncited by 17
  38. 2021Collaborative Uncertainty in Multi-Agent Trajectory Forecastingcited by 17

50 most cited of 131 All 131 (JSON)