mlsanityData to 14 Oct 2026

Goal-GAN: Multimodal Trajectory Prediction Based on Goal Position Estimation

arXiv 2010.01114 ↗First posted 2 Oct 2020cs.CVcited by 57

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Abstract (arXiv)

In this paper, we present Goal-GAN, an interpretable and end-to-end trainable model for human trajectory prediction. Inspired by human navigation, we model the task of trajectory prediction as an intuitive two-stage process: (i) goal estimation, which predicts the most likely target positions of the agent, followed by a (ii) routing module which estimates a set of plausible trajectories that route towards the estimated goal. We leverage information about the past trajectory and visual context of the scene to estimate a multi-modal probability distribution over the possible goal positions, which is used to sample a potential goal during the inference. The routing is governed by a recurrent neural network that reacts to physical constraints in the nearby surroundings and generates feasible paths that route towards the sampled goal. Our extensive experimental evaluation shows that our method establishes a new state-of-the-art on several benchmarks while being able to generate a realistic and diverse set of trajectories that conform to physical constraints.

Key facts. Cited by 57 papers in the map (data through 14 Oct 2026). First posted on arXiv 2 Oct 2020.

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Citing papers per year: 2021: 7; 2022: 12; 2023: 13; 2024: 8; 2025: 12; 2026: 5.

57 papers.

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  1. 2023Trace and Pace: Controllable Pedestrian Animation via Guided Trajectory Diffusioncited by 138
  2. 2025GoalFlow: Goal-Driven Flow Matching for Multimodal Trajectories Generation in End-to-End Autonomous Drivingcited by 120
  3. 2022Joint Hand Motion and Interaction Hotspots Prediction from Egocentric Videoscited by 111
  4. 2022Don't Change the Algorithm, Change the Data: Exploratory Data for Offline Reinforcement Learningcited by 96
  5. 2021MG-GAN: A Multi-Generator Model Preventing Out-of-Distribution Samples in Pedestrian Trajectory Predictioncited by 61
  6. 2021LOKI: Long Term and Key Intentions for Trajectory Predictioncited by 57
  7. 2023EigenTrajectory: Low-Rank Descriptors for Multi-Modal Trajectory Forecastingcited by 41
  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 29
  11. 2022Quo Vadis: Is Trajectory Forecasting the Key Towards Long-Term Multi-Object Tracking?cited by 29
  12. 2022Forecasting from LiDAR via Future Object Detectioncited by 28
38 more
  1. 2023Fast Inference and Update of Probabilistic Density Estimation on Trajectory Predictioncited by 27
  2. 2022SMEMO: Social Memory for Trajectory Forecastingcited by 26
  3. 2021Self-Paced Context Evaluation for Contextual Reinforcement Learningcited by 25
  4. 2023NOPA: Neurally-guided Online Probabilistic Assistance for Building Socially Intelligent Home Assistantscited by 23
  5. 2025Learning to Reason at the Frontier of Learnabilitycited by 23
  6. 2022End-to-End Trajectory Distribution Prediction Based on Occupancy Grid Mapscited by 22
  7. 2023Proximal Curriculum for Reinforcement Learning Agentscited by 20
  8. 2024Intention-aware Denoising Diffusion Model for Trajectory Predictioncited by 11
  9. 2022D2-TPred: Discontinuous Dependency for Trajectory Prediction under Traffic Lightscited by 10
  10. 2022Trajectory Forecasting from Detection with Uncertainty-Aware Motion Encodingcited by 8
  11. 2023Vision-based Multi-future Trajectory Prediction: A Surveycited by 8
  12. 2023ForceFormer: Exploring Social Force and Transformer for Pedestrian Trajectory Predictioncited by 7
  13. 2023Conditional Unscented Autoencoders for Trajectory Predictioncited by 7
  14. 2024Proximal Curriculum with Task Correlations for Deep Reinforcement Learningcited by 7
  15. 2025Continuous Locomotive Crowd Behavior Generationcited by 7
  16. 2022Exploring Attention GAN for Vehicle Motion Predictioncited by 6
  17. 2024Multi-Agent Inverse Reinforcement Learning in Real World Unstructured Pedestrian Crowdscited by 6
  18. 2021Hierarchical Motion Encoder-Decoder Network for Trajectory Forecastingcited by 4
  19. 2022The Stanford Drone Dataset is More Complex than We Think: An Analysis of Key Characteristicscited by 4
  20. 2021Predicting Physical World Destinations for Commands Given to Self-Driving Carscited by 3
  21. 2023Efficient Baselines for Motion Prediction in Autonomous Drivingcited by 3
  22. 2023GDTS: Goal-Guided Diffusion Model with Tree Sampling for Multi-Modal Pedestrian Trajectory Predictioncited by 3
  23. 2025Mimir: Hierarchical Goal-Driven Diffusion with Uncertainty Propagation for End-to-End Autonomous Drivingcited by 3
  24. 2021Conditional Generative Adversarial Networks for Speed Control in Trajectory Simulationcited by 2
  25. 2023Integrating spoken instructions into flight trajectory prediction to optimize automation in air traffic controlcited by 2
  26. 2023Accelerate Multi-Agent Reinforcement Learning in Zero-Sum Games with Subgame Curriculum Learningcited by 2
  27. 2025Recent Advances in Multi-Agent Human Trajectory Prediction: A Comprehensive Reviewcited by 2
  28. 2025cMALC-D: Contextual Multi-Agent LLM-Guided Curriculum Learning with Diversity-Based Context Blendingcited by 2
  29. 2025E3AD: An Emotion-Aware Vision-Language-Action Model for Human-Centric End-to-End Autonomous Drivingcited by 2
  30. 2022Exploring Map-based Features for Efficient Attention-based Vehicle Motion Predictioncited by 1
  31. 2025Risk-Informed Diffusion Transformer for Long-Tail Trajectory Prediction in the Crash Scenariocited by 1
  32. 2025SceneAware: Scene-Constrained Pedestrian Trajectory Prediction with LLM-Guided Walkabilitycited by 1
  33. 2026Adaptive Time Step Flow Matching for Autonomous Driving Motion Planningcited by 1
  34. 2021Recursive Least Squares Based Refinement Network for the Rollout Trajectory Prediction Methodscited by 0
  35. 2023Likely, Light, and Accurate Context-Free Clusters-based Trajectory Predictioncited by 0
  36. 2024A Multi-Stage Goal-Driven Network for Pedestrian Trajectory Predictioncited by 0
  37. 2024LocoVR: Multiuser Indoor Locomotion Dataset in Virtual Realitycited by 0
  38. 2024Characterized Diffusion Networks for Enhanced Autonomous Driving Trajectory Predictioncited by 0

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