mlsanityData to 7 Oct 2026

It Is Not the Journey but the Destination: Endpoint Conditioned Trajectory Prediction

arXiv 2004.02025 ↗First posted 4 Apr 2020cs.CV cs.LGcited by 235

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Abstract (arXiv)

Human trajectory forecasting with multiple socially interacting agents is of critical importance for autonomous navigation in human environments, e.g., for self-driving cars and social robots. In this work, we present Predicted Endpoint Conditioned Network (PECNet) for flexible human trajectory prediction. PECNet infers distant trajectory endpoints to assist in long-range multi-modal trajectory prediction. A novel non-local social pooling layer enables PECNet to infer diverse yet socially compliant trajectories. Additionally, we present a simple "truncation-trick" for improving few-shot multi-modal trajectory prediction performance. We show that PECNet improves state-of-the-art performance on the Stanford Drone trajectory prediction benchmark by ~20.9% and on the ETH/UCY benchmark by ~40.8%. Project homepage: https://karttikeya.github.io/publication/htf/

Key facts. Cited by 235 papers in the map (data through 7 Oct 2026). First posted on arXiv 4 Apr 2020.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 51; 2022: 44; 2023: 38; 2024: 51; 2025: 28; 2026: 23.

235 papers.

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  1. 2021AgentFormer: Agent-Aware Transformers for Socio-Temporal Multi-Agent Forecastingcited by 327
  2. 2022Motion Transformer with Global Intention Localization and Local Movement Refinementcited by 267
  3. 2022Stochastic Trajectory Prediction via Motion Indeterminacy Diffusioncited by 184
  4. 2021GOHOME: Graph-Oriented Heatmap Output for future Motion Estimationcited by 146
  5. 2023MTR++: Multi-Agent Motion Prediction with Symmetric Scene Modeling and Guided Intention Queryingcited by 139
  6. 2023Leapfrog Diffusion Model for Stochastic Trajectory Predictioncited by 129
  7. 2022GroupNet: Multiscale Hypergraph Neural Networks for Trajectory Prediction with Relational Reasoningcited by 128
  8. 2021HOME: Heatmap Output for future Motion Estimationcited by 122
  9. 2021LaneRCNN: Distributed Representations for Graph-Centric Motion Forecastingcited by 112
  10. 2021Multimodal Trajectory Prediction Conditioned on Lane-Graph Traversalscited by 112
  11. 2022Joint Hand Motion and Interaction Hotspots Prediction from Egocentric Videoscited by 110
  12. 2023EqMotion: Equivariant Multi-agent Motion Prediction with Invariant Interaction Reasoningcited by 97
38 more
  1. 2021TPCN: Temporal Point Cloud Networks for Motion Forecastingcited by 94
  2. 2022Remember Intentions: Retrospective-Memory-based Trajectory Predictioncited by 86
  3. 2022M2I: From Factored Marginal Trajectory Prediction to Interactive Predictioncited by 81
  4. 2022BITS: Bi-level Imitation for Traffic Simulationcited by 80
  5. 2022Human Trajectory Prediction via Neural Social Physicscited by 66
  6. 2022SocialVAE: Human Trajectory Prediction using Timewise Latentscited by 65
  7. 2021Learning to Predict Vehicle Trajectories with Model-based Planningcited by 63
  8. 2021Multi-Person 3D Motion Prediction with Multi-Range Transformerscited 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. 2021LOKI: Long Term and Key Intentions for Trajectory Predictioncited by 57
  13. 2021Semantics for Robotic Mapping, Perception and Interaction: A Surveycited by 56
  14. 2021TRiPOD: Human Trajectory and Pose Dynamics Forecasting in the Wildcited by 52
  15. 2022P3IV: Probabilistic Procedure Planning from Instructional Videos with Weak Supervisioncited by 52
  16. 2022Adaptive Trajectory Prediction via Transferable GNNcited by 51
  17. 2021On Exposing the Challenging Long Tail in Future Prediction of Traffic Actorscited by 48
  18. 2023Uncovering the Missing Pattern: Unified Framework Towards Trajectory Imputation and Predictioncited by 47
  19. 2021Three Steps to Multimodal Trajectory Prediction: Modality Clustering, Classification and Synthesiscited by 46
  20. 2022Non-Probability Sampling Network for Stochastic Human Trajectory Predictioncited by 46
  21. 2021View Vertically: A Hierarchical Network for Trajectory Prediction via Fourier Spectrumscited by 44
  22. 2022Learning Pedestrian Group Representations for Multi-modal Trajectory Predictioncited by 44
  23. 2021Human Trajectory Prediction via Counterfactual Analysiscited by 42
  24. 2023EigenTrajectory: Low-Rank Descriptors for Multi-Modal Trajectory Forecastingcited by 41
  25. 2021Towards Robust and Adaptive Motion Forecasting: A Causal Representation Perspectivecited by 40
  26. 2021Spectral Temporal Graph Neural Network for Trajectory Predictioncited by 36
  27. 2024SingularTrajectory: Universal Trajectory Predictor Using Diffusion Modelcited by 35
  28. 2021Are socially-aware trajectory prediction models really socially-aware?cited by 32
  29. 2024Can Language Beat Numerical Regression? Language-Based Multimodal Trajectory Predictioncited by 31
  30. 2021Personalized Trajectory Prediction via Distribution Discriminationcited by 30
  31. 2022Goal-driven Self-Attentive Recurrent Networks for Trajectory Predictioncited by 28
  32. 2022Dynamic-Group-Aware Networks for Multi-Agent Trajectory Prediction with Relational Reasoningcited by 28
  33. 2022Quo Vadis: Is Trajectory Forecasting the Key Towards Long-Term Multi-Object Tracking?cited by 28
  34. 2023Stochastic Multi-Person 3D Motion Forecastingcited by 28
  35. 2023Fast Inference and Update of Probabilistic Density Estimation on Trajectory Predictioncited by 27
  36. 2023SocialCircle: Learning the Angle-based Social Interaction Representation for Pedestrian Trajectory Predictioncited by 27
  37. 2022SMEMO: Social Memory for Trajectory Forecastingcited by 26
  38. 2024LG-Traj: LLM Guided Pedestrian Trajectory Predictioncited by 24

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