mlsanityData to 7 Oct 2026

The Garden of Forking Paths: Towards Multi-Future Trajectory Prediction

arXiv 1912.06445 ↗First posted 13 Dec 2019cs.CVcited by 72

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Abstract (arXiv)

This paper studies the problem of predicting the distribution over multiple possible future paths of people as they move through various visual scenes. We make two main contributions. The first contribution is a new dataset, created in a realistic 3D simulator, which is based on real world trajectory data, and then extrapolated by human annotators to achieve different latent goals. This provides the first benchmark for quantitative evaluation of the models to predict multi-future trajectories. The second contribution is a new model to generate multiple plausible future trajectories, which contains novel designs of using multi-scale location encodings and convolutional RNNs over graphs. We refer to our model as Multiverse. We show that our model achieves the best results on our dataset, as well as on the real-world VIRAT/ActEV dataset (which just contains one possible future).

Key facts. Cited by 72 papers in the map (data through 7 Oct 2026). First posted on arXiv 13 Dec 2019.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 21; 2022: 18; 2023: 12; 2024: 7; 2025: 7; 2026: 7.

72 papers.

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  1. 2021DenseTNT: End-to-end Trajectory Prediction from Dense Goal Setscited by 292
  2. 2022Wayformer: Motion Forecasting via Simple & Efficient Attention Networkscited by 279
  3. 2021MultiPath++: Efficient Information Fusion and Trajectory Aggregation for Behavior Predictioncited by 246
  4. 2021MP3: A Unified Model to Map, Perceive, Predict and Plancited by 211
  5. 2022Stochastic Trajectory Prediction via Motion Indeterminacy Diffusioncited by 184
  6. 2021HOME: Heatmap Output for future Motion Estimationcited by 122
  7. 2021SGCN:Sparse Graph Convolution Network for Pedestrian Trajectory Predictioncited by 97
  8. 2023EqMotion: Equivariant Multi-agent Motion Prediction with Invariant Interaction Reasoningcited by 97
  9. 2022Human Trajectory Prediction via Neural Social Physicscited by 66
  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. 2021On Exposing the Challenging Long Tail in Future Prediction of Traffic Actorscited by 48
38 more
  1. 2021Three Steps to Multimodal Trajectory Prediction: Modality Clustering, Classification and Synthesiscited by 46
  2. 2022Non-Probability Sampling Network for Stochastic Human Trajectory Predictioncited by 46
  3. 2021View Vertically: A Hierarchical Network for Trajectory Prediction via Fourier Spectrumscited by 44
  4. 2022Learning Pedestrian Group Representations for Multi-modal Trajectory Predictioncited by 44
  5. 2023EigenTrajectory: Low-Rank Descriptors for Multi-Modal Trajectory Forecastingcited by 41
  6. 2022JFP: Joint Future Prediction with Interactive Multi-Agent Modeling for Autonomous Drivingcited by 40
  7. 2022Graph-based Spatial Transformer with Memory Replay for Multi-future Pedestrian Trajectory Predictioncited by 36
  8. 2024SingularTrajectory: Universal Trajectory Predictor Using Diffusion Modelcited by 35
  9. 2024Can Language Beat Numerical Regression? Language-Based Multimodal Trajectory Predictioncited by 31
  10. 2022Goal-driven Self-Attentive Recurrent Networks for Trajectory Predictioncited by 28
  11. 2022Dynamic-Group-Aware Networks for Multi-Agent Trajectory Prediction with Relational Reasoningcited by 28
  12. 2022Quo Vadis: Is Trajectory Forecasting the Key Towards Long-Term Multi-Object Tracking?cited by 28
  13. 2022End-to-End Trajectory Distribution Prediction Based on Occupancy Grid Mapscited by 22
  14. 2024MART: MultiscAle Relational Transformer Networks for Multi-agent Trajectory Predictioncited by 21
  15. 2021MSN: Multi-Style Network for Trajectory Predictioncited by 19
  16. 2022CSCNet: Contextual Semantic Consistency Network for Trajectory Prediction in Crowded Spacescited by 18
  17. 2021Unlimited Neighborhood Interaction for Heterogeneous Trajectory Predictioncited by 17
  18. 2021Egocentric Human Trajectory Forecasting with a Wearable Camera and Multi-Modal Fusioncited by 17
  19. 2023Unsupervised Sampling Promoting for Stochastic Human Trajectory Predictioncited by 17
  20. 2023Joint Metrics Matter: A Better Standard for Trajectory Forecastingcited by 17
  21. 2023Synchronize Feature Extracting and Matching: A Single Branch Framework for 3D Object Trackingcited by 16
  22. 2021Safety-aware Motion Prediction with Unseen Vehicles for Autonomous Drivingcited by 15
  23. 2023Another Vertical View: A Hierarchical Network for Heterogeneous Trajectory Prediction via Spectrumscited by 14
  24. 2025Trajectory Prediction for Autonomous Driving: Progress, Limitations, and Future Directionscited by 14
  25. 2022Safety-compliant Generative Adversarial Networks for Human Trajectory Forecastingcited by 12
  26. 2024From Cognition to Precognition: A Future-Aware Framework for Social Navigationcited by 10
  27. 2022Pishgu: Universal Path Prediction Network Architecture for Real-time Cyber-physical Edge Systemscited by 9
  28. 2025BP-SGCN: Behavioral Pseudo-Label Informed Sparse Graph Convolution Network for Pedestrian and Heterogeneous Trajectory Predictioncited by 9
  29. 2022Under the Hood of Transformer Networks for Trajectory Forecastingcited by 8
  30. 2023Vision-based Multi-future Trajectory Prediction: A Surveycited by 8
  31. 2025Diverse Controllable Diffusion Policy with Signal Temporal Logiccited by 8
  32. 2025Continuous Locomotive Crowd Behavior Generationcited by 7
  33. 2023Staged Contact-Aware Global Human Motion Forecastingcited by 6
  34. 2023TBD Pedestrian Data Collection: Towards Rich, Portable, and Large-Scale Natural Pedestrian Datacited by 5
  35. 2021Indoor Future Person Localization from an Egocentric Wearable Cameracited by 4
  36. 2021Multi-Camera Trajectory Forecasting with Trajectory Tensorscited by 4
  37. 2021Hierarchical Motion Encoder-Decoder Network for Trajectory Forecastingcited by 4
  38. 2022T2FPV: Dataset and Method for Correcting First-Person View Errors in Pedestrian Trajectory Predictioncited by 4

50 most cited of 72 All 72 (JSON)