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

arXiv: https://arxiv.org/abs/2004.02025 · HTML: https://mlsanity.com/paper/2004.02025/

## Key facts

- Cited by 236 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 4 Apr 2020.

## Built on by (most cited first, 30 of 236)

- [AgentFormer: Agent-Aware Transformers for Socio-Temporal Multi-Agent Forecasting](https://mlsanity.com/paper/2103.14023/) (2021)
- [Motion Transformer with Global Intention Localization and Local Movement Refinement](https://mlsanity.com/paper/2209.13508/) (2022)
- [Stochastic Trajectory Prediction via Motion Indeterminacy Diffusion](https://mlsanity.com/paper/2203.13777/) (2022)
- [GOHOME: Graph-Oriented Heatmap Output for future Motion Estimation](https://mlsanity.com/paper/2109.01827/) (2021)
- [MTR++: Multi-Agent Motion Prediction with Symmetric Scene Modeling and Guided Intention Querying](https://mlsanity.com/paper/2306.17770/) (2023)
- [Leapfrog Diffusion Model for Stochastic Trajectory Prediction](https://mlsanity.com/paper/2303.10895/) (2023)
- [GroupNet: Multiscale Hypergraph Neural Networks for Trajectory Prediction with Relational Reasoning](https://mlsanity.com/paper/2204.08770/) (2022)
- [HOME: Heatmap Output for future Motion Estimation](https://mlsanity.com/paper/2105.10968/) (2021)
- [LaneRCNN: Distributed Representations for Graph-Centric Motion Forecasting](https://mlsanity.com/paper/2101.06653/) (2021)
- [Multimodal Trajectory Prediction Conditioned on Lane-Graph Traversals](https://mlsanity.com/paper/2106.15004/) (2021)
- [Joint Hand Motion and Interaction Hotspots Prediction from Egocentric Videos](https://mlsanity.com/paper/2204.01696/) (2022)
- [EqMotion: Equivariant Multi-agent Motion Prediction with Invariant Interaction Reasoning](https://mlsanity.com/paper/2303.10876/) (2023)
- [TPCN: Temporal Point Cloud Networks for Motion Forecasting](https://mlsanity.com/paper/2103.03067/) (2021)
- [Remember Intentions: Retrospective-Memory-based Trajectory Prediction](https://mlsanity.com/paper/2203.11474/) (2022)
- [M2I: From Factored Marginal Trajectory Prediction to Interactive Prediction](https://mlsanity.com/paper/2202.11884/) (2022)
- [BITS: Bi-level Imitation for Traffic Simulation](https://mlsanity.com/paper/2208.12403/) (2022)
- [SocialVAE: Human Trajectory Prediction using Timewise Latents](https://mlsanity.com/paper/2203.08207/) (2022)
- [Human Trajectory Prediction via Neural Social Physics](https://mlsanity.com/paper/2207.10435/) (2022)
- [Learning to Predict Vehicle Trajectories with Model-based Planning](https://mlsanity.com/paper/2103.04027/) (2021)
- [Multi-Person 3D Motion Prediction with Multi-Range Transformers](https://mlsanity.com/paper/2111.12073/) (2021)
- [Stepwise Goal-Driven Networks for Trajectory Prediction](https://mlsanity.com/paper/2103.14107/) (2021)
- [MG-GAN: A Multi-Generator Model Preventing Out-of-Distribution Samples in Pedestrian Trajectory Prediction](https://mlsanity.com/paper/2108.09274/) (2021)
- [Trajectory Prediction with Latent Belief Energy-Based Model](https://mlsanity.com/paper/2104.03086/) (2021)
- [LOKI: Long Term and Key Intentions for Trajectory Prediction](https://mlsanity.com/paper/2108.08236/) (2021)
- [Semantics for Robotic Mapping, Perception and Interaction: A Survey](https://mlsanity.com/paper/2101.00443/) (2021)
- [TRiPOD: Human Trajectory and Pose Dynamics Forecasting in the Wild](https://mlsanity.com/paper/2104.04029/) (2021)
- [P3IV: Probabilistic Procedure Planning from Instructional Videos with Weak Supervision](https://mlsanity.com/paper/2205.02300/) (2022)
- [Adaptive Trajectory Prediction via Transferable GNN](https://mlsanity.com/paper/2203.05046/) (2022)
- [On Exposing the Challenging Long Tail in Future Prediction of Traffic Actors](https://mlsanity.com/paper/2103.12474/) (2021)
- [Uncovering the Missing Pattern: Unified Framework Towards Trajectory Imputation and Prediction](https://mlsanity.com/paper/2303.16005/) (2023)

## 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/