mlsanityData to 7 Oct 2026

baller2vec++: A Look-Ahead Multi-Entity Transformer For Modeling Coordinated Agents

arXiv 2104.11980 ↗First posted 24 Apr 2021cs.LG cs.MAcited by 12

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Abstract (arXiv)

In many multi-agent spatiotemporal systems, agents operate under the influence of shared, unobserved variables (e.g., the play a team is executing in a game of basketball). As a result, the trajectories of the agents are often statistically dependent at any given time step; however, almost universally, multi-agent models implicitly assume the agents' trajectories are statistically independent at each time step. In this paper, we introduce baller2vec++, a multi-entity Transformer that can effectively model coordinated agents. Specifically, baller2vec++ applies a specially designed self-attention mask to a mixture of location and "look-ahead" trajectory sequences to learn the distributions of statistically dependent agent trajectories. We show that, unlike baller2vec (baller2vec++'s predecessor), baller2vec++ can learn to emulate the behavior of perfectly coordinated agents in a simulated toy dataset. Additionally, when modeling the trajectories of professional basketball players, baller2vec++ outperforms baller2vec by a wide margin.

Key facts. Cited by 12 papers in the map (data through 7 Oct 2026). Builds on 24 of its 27 references that are in the map. First posted on arXiv 24 Apr 2021.

Builds on

24 of 27 references.

References · 24

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12 more
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Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 2; 2022: 0; 2023: 2; 2024: 4; 2025: 2; 2026: 2.

12 papers.

  1. 2023MADiff: Offline Multi-agent Learning with Diffusion Modelscited by 73
  2. 2024Deep Generative Models for Offline Policy Learning: Tutorial, Survey, and Perspectives on Future Directionscited by 20
  3. 2025Unified Uncertainty-Aware Diffusion for Multi-Agent Trajectory Modelingcited by 15
  4. 2024TranSPORTmer: A Holistic Approach to Trajectory Understanding in Multi-Agent Sportscited by 11
  5. 2024FootBots: A Transformer-based Architecture for Motion Prediction in Soccercited by 8
  6. 2021Time-series Imputation of Temporally-occluded Multiagent Trajectoriescited by 7
  7. 2021The DEformer: An Order-Agnostic Distribution Estimating Transformercited by 5
  8. 2026Heteroscedastic Diffusion for Multi-Agent Trajectory Modelingcited by 3
  9. 2023AQuaMaM: An Autoregressive, Quaternion Manifold Model for Rapidly Estimating Complex SO(3) Distributionscited by 1
  10. 2024Discovering group dynamics in coordinated time series via hierarchical recurrent switching-state modelscited by 1
  11. 2025CourtMotion: Learning Event-Driven Motion Representations from Skeletal Data for Basketballcited by 0
  12. 2026PathCRF: Ball-Free Soccer Event Detection via Possession Path Inference from Player Trajectoriescited by 0