mlsanityData to 7 Oct 2026

Discrete Residual Flow for Probabilistic Pedestrian Behavior Prediction

arXiv 1910.08041 ↗First posted 17 Oct 2019cs.CV cs.LG cs.ROcited by 34

Not on the map. Why?

Abstract (arXiv)

Self-driving vehicles plan around both static and dynamic objects, applying predictive models of behavior to estimate future locations of the objects in the environment. However, future behavior is inherently uncertain, and models of motion that produce deterministic outputs are limited to short timescales. Particularly difficult is the prediction of human behavior. In this work, we propose the discrete residual flow network (DRF-Net), a convolutional neural network for human motion prediction that captures the uncertainty inherent in long-range motion forecasting. In particular, our learned network effectively captures multimodal posteriors over future human motion by predicting and updating a discretized distribution over spatial locations. We compare our model against several strong competitors and show that our model outperforms all baselines.

Key facts. Cited by 34 papers in the map (data through 7 Oct 2026). First posted on arXiv 17 Oct 2019.

Builds on

No reference list yet.

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 14; 2022: 7; 2023: 3; 2024: 3; 2025: 3; 2026: 4.

34 papers.

Sort:

By area:

  1. 2021DenseTNT: End-to-end Trajectory Prediction from Dense Goal Setscited by 292
  2. 2021MP3: A Unified Model to Map, Perceive, Predict and Plancited by 211
  3. 2021HOME: Heatmap Output for future Motion Estimationcited by 122
  4. 2021LaneRCNN: Distributed Representations for Graph-Centric Motion Forecastingcited by 112
  5. 2021LookOut: Diverse Multi-Future Prediction and Planning for Self-Drivingcited by 96
  6. 2022Occupancy Flow Fields for Motion Forecasting in Autonomous Drivingcited by 62
  7. 2021Semantics for Robotic Mapping, Perception and Interaction: A Surveycited by 56
  8. 2025MoFlow: One-Step Flow Matching for Human Trajectory Forecasting via Implicit Maximum Likelihood Estimation based Distillationcited by 31
  9. 2021Review of Pedestrian Trajectory Prediction Methods: Comparing Deep Learning and Knowledge-based Approachescited by 30
  10. 2022Behavioral Intention Prediction in Driving Scenes: A Surveycited by 30
  11. 2023Grid-Centric Traffic Scenario Perception for Autonomous Driving: A Comprehensive Reviewcited by 25
  12. 2022End-to-End Trajectory Distribution Prediction Based on Occupancy Grid Mapscited by 22
22 more
  1. 2021Collaborative Uncertainty in Multi-Agent Trajectory Forecastingcited by 17
  2. 2021Safety-aware Motion Prediction with Unseen Vehicles for Autonomous Drivingcited by 15
  3. 2022StopNet: Scalable Trajectory and Occupancy Prediction for Urban Autonomous Drivingcited by 14
  4. 2025Trajectory Prediction for Autonomous Driving: Progress, Limitations, and Future Directionscited by 14
  5. 2022Collaborative Uncertainty Benefits Multi-Agent Multi-Modal Trajectory Forecastingcited by 13
  6. 2024OFMPNet: Deep End-to-End Model for Occupancy and Flow Prediction in Urban Environmentcited by 8
  7. 2021Safety-Oriented Pedestrian Motion and Scene Occupancy Forecastingcited by 6
  8. 2021Pose and Semantic Map Based Probabilistic Forecast of Vulnerable Road Users' Trajectoriescited by 6
  9. 2021A Hybrid Rule-Based and Data-Driven Approach to Driver Modeling through Particle Filteringcited by 6
  10. 2023Cheap and Deterministic Inference for Deep State-Space Models of Interacting Dynamical Systemscited by 5
  11. 2021CovarianceNet: Conditional Generative Model for Correct Covariance Prediction in Human Motion Predictioncited by 4
  12. 2023FlowMap: Path Generation for Automated Vehicles in Open Space Using Traffic Flowcited by 3
  13. 2025EgoCogNav: Cognition-aware Human Egocentric Navigationcited by 3
  14. 2021Just Label What You Need: Fine-Grained Active Selection for Perception and Prediction through Partially Labeled Scenescited by 2
  15. 2022On the Choice of Data for Efficient Training and Validation of End-to-End Driving Modelscited by 2
  16. 2022ProspectNet: Weighted Conditional Attention for Future Interaction Modeling in Behavior Predictioncited by 1
  17. 2024GAD-Generative Learning for HD Map-Free Autonomous Drivingcited by 0
  18. 2024Dynamic Neural Potential Field: Online Trajectory Optimization in the Presence of Moving Obstaclescited by 0
  19. 2026Uncertainty-Aware Trajectory Prediction: A Unified Framework Harnessing Positional and Semantic Uncertaintiescited by 0
  20. 2026EgoTraj: Real-World Egocentric Human Trajectory Dataset for Multimodal Predictioncited by 0
  21. 2026Rethinking Training & Inference for Forecasting: Linking Winner-Take-All back to GMMscited by 0
  22. 2026TSCA-Net: Temporal-Spatial Clique Attention for Interpretable Multimodal Pedestrian Trajectory Predictioncited by 0