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Stepwise Goal-Driven Networks for Trajectory Prediction

arXiv 2103.14107 ↗First posted 25 Mar 2021cs.CVcited by 62

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Abstract (arXiv)

We propose to predict the future trajectories of observed agents (e.g., pedestrians or vehicles) by estimating and using their goals at multiple time scales. We argue that the goal of a moving agent may change over time, and modeling goals continuously provides more accurate and detailed information for future trajectory estimation. To this end, we present a recurrent network for trajectory prediction, called Stepwise Goal-Driven Network (SGNet). Unlike prior work that models only a single, long-term goal, SGNet estimates and uses goals at multiple temporal scales. In particular, it incorporates an encoder that captures historical information, a stepwise goal estimator that predicts successive goals into the future, and a decoder that predicts future trajectory. We evaluate our model on three first-person traffic datasets (HEV-I, JAAD, and PIE) as well as on three bird's eye view datasets (NuScenes, ETH, and UCY), and show that our model achieves state-of-the-art results on all datasets. Code has been made available at: https://github.com/ChuhuaW/SGNet.pytorch.

Key facts. Cited by 62 papers in the map (data through 7 Oct 2026). Builds on 38 of its 57 references that are in the map. First posted on arXiv 25 Mar 2021.

Builds on

38 of 57 references.

References · 38

  1. 2014Adam: A Method for Stochastic Optimizationcited by 36,960
  2. 2019nuScenes: A multimodal dataset for autonomous drivingcited by 4,485
  3. 2016Simple Online and Realtime Trackingcited by 862
  4. 2019Argoverse: 3D Tracking and Forecasting with Rich Mapscited by 728
  5. 2018Social GAN: Socially Acceptable Trajectories with Generative Adversarial Networkscited by 687
  6. 2020TNT: Target-driveN Trajectory Predictioncited by 345
  7. 2017DESIRE: Distant Future Prediction in Dynamic Scenes with Interacting Agentscited by 310
  8. 2018SoPhie: An Attentive GAN for Predicting Paths Compliant to Social and Physical Constraintscited by 296
  9. 2019CoverNet: Multimodal Behavior Prediction using Trajectory Setscited by 259
  10. 2021End-to-end Interpretable Neural Motion Plannercited by 240
  11. 2020It Is Not the Journey but the Destination: Endpoint Conditioned Trajectory Predictioncited by 235
  12. 2019Human Motion Trajectory Prediction: A Surveycited by 231
26 more
  1. 2019Social-BiGAT: Multimodal Trajectory Forecasting using Bicycle-GAN and Graph Attention Networkscited by 228
  2. 2020Spatio-Temporal Graph Transformer Networks for Pedestrian Trajectory Predictioncited by 218
  3. 2019PRECOG: PREdiction Conditioned On Goals in Visual Multi-Agent Settingscited by 178
  4. 2019Multiple Futures Predictioncited by 178
  5. 2019Multi-Agent Tensor Fusion for Contextual Trajectory Predictioncited by 131
  6. 2020SMARTS: Scalable Multi-Agent Reinforcement Learning Training School for Autonomous Drivingcited by 121
  7. 2019Peeking into the Future: Predicting Future Person Activities and Locations in Videoscited by 112
  8. 2019SR-LSTM: State Refinement for LSTM towards Pedestrian Trajectory Predictioncited by 111
  9. 2018Temporal Recurrent Networks for Online Action Detectioncited by 79
  10. 2018Multi-Modal Trajectory Prediction of Surrounding Vehicles with Maneuver based LSTMscited by 77
  11. 2019Conditional Generative Neural System for Probabilistic Trajectory Predictioncited by 76
  12. 2020Trajectory Forecasts in Unknown Environments Conditioned on Grid-Based Planscited by 72
  13. 2019Unsupervised Traffic Accident Detection in First-Person Videoscited by 69
  14. 2017Long-Term On-Board Prediction of People in Traffic Scenes under Uncertaintycited by 63
  15. 2020Trajectron++: Dynamically-Feasible Trajectory Forecasting With Heterogeneous Datacited by 58
  16. 2017Future Person Localization in First-Person Videoscited by 57
  17. 2020BiTraP: Bi-directional Pedestrian Trajectory Prediction with Multi-modal Goal Estimationcited by 47
  18. 2018Egocentric Vision-based Future Vehicle Localization for Intelligent Driving Assistance Systemscited by 42
  19. 2016Joint Attention in Autonomous Driving (JAAD)cited by 35
  20. 2020Shared Cross-Modal Trajectory Prediction for Autonomous Drivingcited by 31
  21. 2020MATS: An Interpretable Trajectory Forecasting Representation for Planning and Controlcited by 30
  22. 2020Dynamic and Static Context-aware LSTM for Multi-agent Motion Predictioncited by 21
  23. 2020PLOP: Probabilistic poLynomial Objects trajectory Planning for autonomous drivingcited by 19
  24. 2020Multimodal Future Localization and Emergence Prediction for Objects in Egocentric View with a Reachability Priorcited by 18
  25. 2020LiRaNet: End-to-End Trajectory Prediction using Spatio-Temporal Radar Fusioncited by 18
  26. 2020Social-VRNN: One-Shot Multi-modal Trajectory Prediction for Interacting Pedestrianscited by 8

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 4; 2022: 8; 2023: 11; 2024: 17; 2025: 15; 2026: 7.

62 papers.

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  1. 2021GOHOME: Graph-Oriented Heatmap Output for future Motion Estimationcited by 146
  2. 2021Multimodal Trajectory Prediction Conditioned on Lane-Graph Traversalscited by 112
  3. 2021THOMAS: Trajectory Heatmap Output with learned Multi-Agent Samplingcited by 101
  4. 2022SocialVAE: Human Trajectory Prediction using Timewise Latentscited by 65
  5. 2022MUSE-VAE: Multi-Scale VAE for Environment-Aware Long Term Trajectory Predictioncited by 59
  6. 2023LAformer: Trajectory Prediction for Autonomous Driving with Lane-Aware Scene Constraintscited by 50
  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. 2022A Comprehensive Review of Computer Vision in Sports: Open Issues, Future Trends and Research Directionscited by 21
  11. 2021PSI: A Benchmark for Human Interpretation and Response in Traffic Interactionscited by 17
  12. 2022Action-based Contrastive Learning for Trajectory Predictioncited by 15
38 more
  1. 2025Trajectory Prediction for Autonomous Driving: Progress, Limitations, and Future Directionscited by 14
  2. 2023A Safer Vision-based Autonomous Planning System for Quadrotor UAVs with Dynamic Obstacle Trajectory Prediction and Its Application with LLMscited by 13
  3. 2023Context-Aware Timewise VAEs for Real-Time Vehicle Trajectory Predictioncited by 12
  4. 2023A Novel Benchmarking Paradigm and a Scale- and Motion-Aware Model for Egocentric Pedestrian Trajectory Predictioncited by 12
  5. 2022Heterogeneous Trajectory Forecasting via Risk and Scene Graph Learningcited by 11
  6. 2024Intention-aware Denoising Diffusion Model for Trajectory Predictioncited by 11
  7. 2024A Comprehensive Review of Few-shot Action Recognitioncited by 11
  8. 2024Joint Pedestrian Trajectory Prediction through Posterior Samplingcited by 10
  9. 2022Aware of the History: Trajectory Forecasting with the Local Behavior Datacited by 8
  10. 2023Vision-based Multi-future Trajectory Prediction: A Surveycited by 8
  11. 2025Continuous Locomotive Crowd Behavior Generationcited by 7
  12. 2025SocialMOIF: Multi-Order Intention Fusion for Pedestrian Trajectory Predictioncited by 7
  13. 2022On-Board Pedestrian Trajectory Prediction Using Behavioral Featurescited by 5
  14. 2023DESTINE: Dynamic Goal Queries with Temporal Transductive Alignment for Trajectory Predictioncited by 5
  15. 2024SocialFormer: Social Interaction Modeling with Edge-enhanced Heterogeneous Graph Transformers for Trajectory Predictioncited by 5
  16. 2025EgoTraj-Bench: Towards Robust Trajectory Prediction Under Ego-view Noisy Observationscited by 5
  17. 2023Context-aware Pedestrian Trajectory Prediction with Multimodal Transformercited by 4
  18. 2024Understanding complex crowd dynamics with generative neural simulatorscited by 4
  19. 2024Knowledge-aware Graph Transformer for Pedestrian Trajectory Predictioncited by 3
  20. 2024Context-aware Multi-task Learning for Pedestrian Intent and Trajectory Predictioncited by 3
  21. 2025Mimir: Hierarchical Goal-Driven Diffusion with Uncertainty Propagation for End-to-End Autonomous Drivingcited by 3
  22. 2025ASTRA: A Scene-aware TRAnsformer-based model for trajectory predictioncited by 2
  23. 2025INTENT: Trajectory Prediction Framework with Intention-Guided Contrastive Clusteringcited by 2
  24. 2025SGNetPose+: Stepwise Goal-Driven Networks with Pose Information for Trajectory Prediction in Autonomous Drivingcited by 2
  25. 2025ECAM: A Contrastive Learning Approach to Avoid Environmental Collision in Trajectory Forecastingcited by 2
  26. 2022Graphing the Future: Activity and Next Active Object Prediction using Graph-based Activity Representationscited by 1
  27. 2023Fusion-GRU: A Deep Learning Model for Future Bounding Box Prediction of Traffic Agents in Risky Driving Videoscited by 1
  28. 2023GSGFormer: Generative Social Graph Transformer for Multimodal Pedestrian Trajectory Predictioncited by 1
  29. 2024GoalNet: Goal Areas Oriented Pedestrian Trajectory Predictioncited by 1
  30. 2024Pedestrian motion prediction evaluation for urban autonomous drivingcited by 1
  31. 2024PMM-Net: Single-stage Multi-agent Trajectory Prediction with Patching-based Embedding and Explicit Modal Modulationcited by 1
  32. 2024Socially-Informed Reconstruction for Pedestrian Trajectory Forecastingcited by 1
  33. 2025Pedestrian Intention and Trajectory Prediction in Unstructured Traffic Using IDD-PeDcited by 1
  34. 2025Reverberation: Learning the Latencies Before Forecasting Trajectoriescited by 1
  35. 2026Social-Mamba: Socially-Aware Trajectory Forecasting with State-Space Modelscited by 1
  36. 2023Learning Socio-Temporal Graphs for Multi-Agent Trajectory Predictioncited by 0
  37. 2024Traj-LLM: A New Exploration for Empowering Trajectory Prediction with Pre-trained Large Language Modelscited by 0
  38. 2024A Multi-Stage Goal-Driven Network for Pedestrian Trajectory Predictioncited by 0

50 most cited of 62 All 62 (JSON)