mlsanityData to 7 Oct 2026

View Vertically: A Hierarchical Network for Trajectory Prediction via Fourier Spectrums

arXiv 2110.07288 ↗First posted 14 Oct 2021cs.CVcited by 44

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Abstract (arXiv)

Understanding and forecasting future trajectories of agents are critical for behavior analysis, robot navigation, autonomous cars, and other related applications. Previous methods mostly treat trajectory prediction as time sequence generation. Different from them, this work studies agents' trajectories in a "vertical" view, i.e., modeling and forecasting trajectories from the spectral domain. Different frequency bands in the trajectory spectrums could hierarchically reflect agents' motion preferences at different scales. The low-frequency and high-frequency portions could represent their coarse motion trends and fine motion variations, respectively. Accordingly, we propose a hierarchical network V2-Net, which contains two sub-networks, to hierarchically model and predict agents' trajectories with trajectory spectrums. The coarse-level keypoints estimation sub-network first predicts the "minimal" spectrums of agents' trajectories on several "key" frequency portions. Then the fine-level spectrum interpolation sub-network interpolates the spectrums to reconstruct the final predictions. Experimental results display the competitiveness and superiority of V2-Net on both ETH-UCY benchmark and the Stanford Drone Dataset.

Key facts. Cited by 44 papers in the map (data through 7 Oct 2026). Builds on 38 of its 63 references that are in the map. First posted on arXiv 14 Oct 2021.

Builds on

38 of 63 references.

References · 38

  1. 2017Attention Is All You Needcited by 59,932
  2. 2016Semi-Supervised Classification with Graph Convolutional Networkscited by 11,282
  3. 2018Social GAN: Socially Acceptable Trajectories with Generative Adversarial Networkscited by 687
  4. 2019MultiPath: Multiple Probabilistic Anchor Trajectory Hypotheses for Behavior Predictioncited by 417
  5. 2021AgentFormer: Agent-Aware Transformers for Socio-Temporal Multi-Agent Forecastingcited by 327
  6. 2020Social-STGCNN: A Social Spatio-Temporal Graph Convolutional Neural Network for Human Trajectory Predictioncited by 324
  7. 2017DESIRE: Distant Future Prediction in Dynamic Scenes with Interacting Agentscited by 310
  8. 2021Spectral Temporal Graph Neural Network for Multivariate Time-series Forecastingcited by 298
  9. 2018SoPhie: An Attentive GAN for Predicting Paths Compliant to Social and Physical Constraintscited by 296
  10. 2018Multimodal Trajectory Predictions for Autonomous Driving using Deep Convolutional Networkscited by 289
  11. 2019CoverNet: Multimodal Behavior Prediction using Trajectory Setscited by 259
  12. 2019Learning Trajectory Dependencies for Human Motion Predictioncited by 245
26 more
  1. 2020It Is Not the Journey but the Destination: Endpoint Conditioned Trajectory Predictioncited by 235
  2. 2015Structural-RNN: Deep Learning on Spatio-Temporal Graphscited by 234
  3. 2019Social-BiGAT: Multimodal Trajectory Forecasting using Bicycle-GAN and Graph Attention Networkscited by 228
  4. 2018Convolutional Social Pooling for Vehicle Trajectory Predictioncited by 221
  5. 2020Spatio-Temporal Graph Transformer Networks for Pedestrian Trajectory Predictioncited by 218
  6. 2017Social Attention: Modeling Attention in Human Crowdscited by 185
  7. 2020Transformer Networks for Trajectory Forecastingcited by 180
  8. 2019PRECOG: PREdiction Conditioned On Goals in Visual Multi-Agent Settingscited by 178
  9. 2020From Goals, Waypoints & Paths To Long Term Human Trajectory Forecastingcited by 166
  10. 2020History Repeats Itself: Human Motion Prediction via Motion Attentioncited by 164
  11. 2019SR-LSTM: State Refinement for LSTM towards Pedestrian Trajectory Predictioncited by 111
  12. 2019The Garden of Forking Paths: Towards Multi-Future Trajectory Predictioncited by 72
  13. 2020MANTRA: Memory Augmented Networks for Multiple Trajectory Predictioncited by 69
  14. 2020Recursive Social Behavior Graph for Trajectory Predictioncited by 66
  15. 2021Trajectory Prediction with Latent Belief Energy-Based Modelcited by 60
  16. 2021LOKI: Long Term and Key Intentions for Trajectory Predictioncited by 57
  17. 2017Probabilistic Vehicle Trajectory Prediction over Occupancy Grid Map via Recurrent Neural Networkcited by 56
  18. 2017Soft + Hardwired Attention: An LSTM Framework for Human Trajectory Prediction and Abnormal Event Detectioncited by 42
  19. 2021Spectral Temporal Graph Neural Network for Trajectory Predictioncited by 36
  20. 2018Scene-LSTM: A Model for Human Trajectory Predictioncited by 24
  21. 2020Goal-driven Long-Term Trajectory Predictioncited by 24
  22. 2020Temporal Pyramid Network for Pedestrian Trajectory Prediction with Multi-Supervisioncited by 20
  23. 2021MSN: Multi-Style Network for Trajectory Predictioncited by 19
  24. 2020Scene Gated Social Graph: Pedestrian Trajectory Prediction Based on Dynamic Social Graphs and Scene Constraintscited by 6
  25. 2020ArTIST: Autoregressive Trajectory Inpainting and Scoring for Trackingcited by 5
  26. 2018Particle-based pedestrian path prediction using LSTM-MDL modelscited by 3

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2022: 4; 2023: 11; 2024: 12; 2025: 11; 2026: 6.

44 papers.

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  1. 2023EigenTrajectory: Low-Rank Descriptors for Multi-Modal Trajectory Forecastingcited by 41
  2. 2024SingularTrajectory: Universal Trajectory Predictor Using Diffusion Modelcited by 35
  3. 2024Can Language Beat Numerical Regression? Language-Based Multimodal Trajectory Predictioncited by 31
  4. 2023SocialCircle: Learning the Angle-based Social Interaction Representation for Pedestrian Trajectory Predictioncited by 27
  5. 2024LG-Traj: LLM Guided Pedestrian Trajectory Predictioncited by 24
  6. 2022End-to-End Trajectory Distribution Prediction Based on Occupancy Grid Mapscited by 22
  7. 2023Domain Re-Modulation for Few-Shot Generative Domain Adaptationcited by 18
  8. 2023Unsupervised Sampling Promoting for Stochastic Human Trajectory Predictioncited by 17
  9. 2023Joint Metrics Matter: A Better Standard for Trajectory Forecastingcited by 17
  10. 2024Progressive Pretext Task Learning for Human Trajectory Predictioncited by 16
  11. 2023Another Vertical View: A Hierarchical Network for Heterogeneous Trajectory Prediction via Spectrumscited by 14
  12. 2024Joint Pedestrian Trajectory Prediction through Posterior Samplingcited by 10
32 more
  1. 2022Pishgu: Universal Path Prediction Network Architecture for Real-time Cyber-physical Edge Systemscited by 9
  2. 2025BP-SGCN: Behavioral Pseudo-Label Informed Sparse Graph Convolution Network for Pedestrian and Heterogeneous Trajectory Predictioncited by 9
  3. 2025Pedestrian Trajectory Prediction Based on Social Interactions Learning With Random Weightscited by 8
  4. 2023Efficient Backdoor Attacks for Deep Neural Networks in Real-world Scenarioscited by 7
  5. 2023Human Trajectory Forecasting with Explainable Behavioral Uncertaintycited by 7
  6. 2025Continuous Locomotive Crowd Behavior Generationcited by 7
  7. 2025SocialMOIF: Multi-Order Intention Fusion for Pedestrian Trajectory Predictioncited by 7
  8. 2024SocialCircle+: Learning the Angle-based Conditioned Interaction Representation for Pedestrian Trajectory Predictioncited by 6
  9. 2024Resonance: Learning to Predict Social-Aware Pedestrian Trajectories as Co-Vibrationscited by 5
  10. 2022T2FPV: Dataset and Method for Correcting First-Person View Errors in Pedestrian Trajectory Predictioncited by 4
  11. 2025AMD: Adaptive Momentum and Decoupled Contrastive Learning Framework for Robust Long-Tail Trajectory Predictioncited by 4
  12. 2023Pedestrian Trajectory Forecasting Using Deep Ensembles Under Sensing Uncertaintycited by 3
  13. 2023Sparse Pedestrian Character Learning for Trajectory Predictioncited by 3
  14. 2024Risk-aware Trajectory Prediction by Incorporating Spatio-temporal Traffic Interaction Analysiscited by 3
  15. 2024CCF: Cross Correcting Framework for Pedestrian Trajectory Predictioncited by 2
  16. 2024Agile Decision-Making and Safety-Critical Motion Planning for Emergency Autonomous Vehiclescited by 2
  17. 2022G-PECNet: Towards a Generalizable Pedestrian Trajectory Prediction Systemcited by 1
  18. 2024GoalNet: Goal Areas Oriented Pedestrian Trajectory Predictioncited by 1
  19. 2024PMM-Net: Single-stage Multi-agent Trajectory Prediction with Patching-based Embedding and Explicit Modal Modulationcited by 1
  20. 2025Frequency Feature Fusion Graph Network For Depression Diagnosis Via fNIRScited by 1
  21. 2025Out-of-Sight Embodied Agents: Multimodal Tracking, Sensor Fusion, and Trajectory Forecastingcited by 1
  22. 2025Reverberation: Learning the Latencies Before Forecasting Trajectoriescited by 1
  23. 2023Learning Socio-Temporal Graphs for Multi-Agent Trajectory Predictioncited by 0
  24. 2025A Pretrained Probabilistic Transformer for City-Scale Traffic Volume Predictioncited by 0
  25. 2025PatchTraj: Unified Time-Frequency Representation Learning via Dynamic Patches for Trajectory Predictioncited by 0
  26. 2025MGTraj: Multi-Granularity Goal-Guided Human Trajectory Prediction with Recursive Refinement Networkcited by 0
  27. 2026FoSS: Modeling Long Range Dependencies and Multimodal Uncertainty in Trajectory Prediction via Fourier State Space Integrationcited by 0
  28. 2026SAIL: Scene-aware Adaptive Iterative Learning for Long-Tail Trajectory Prediction in Autonomous Vehiclescited by 0
  29. 2026Encore: Conditioning Trajectory Forecasting via Biased Ego Rehearsalscited by 0
  30. 2026Diverse Yet Consistent: Context-Guided Diffusion with Energy-Based Joint Refinement for Multi-Agent Motion Predictioncited by 0
  31. 2026TSCA-Net: Temporal-Spatial Clique Attention for Interpretable Multimodal Pedestrian Trajectory Predictioncited by 0
  32. 2026GEAR: From Dynamic Encoding to Dynamic Activation in Social Trajectory Predictioncited by 0