mlsanityData to 7 Oct 2026

ScePT: Scene-consistent, Policy-based Trajectory Predictions for Planning

arXiv 2206.13387 ↗First posted 18 Jun 2022cs.AI cs.CV cs.LGcited by 63

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Abstract (arXiv)

Trajectory prediction is a critical functionality of autonomous systems that share environments with uncontrolled agents, one prominent example being self-driving vehicles. Currently, most prediction methods do not enforce scene consistency, i.e., there are a substantial amount of self-collisions between predicted trajectories of different agents in the scene. Moreover, many approaches generate individual trajectory predictions per agent instead of joint trajectory predictions of the whole scene, which makes downstream planning difficult. In this work, we present ScePT, a policy planning-based trajectory prediction model that generates accurate, scene-consistent trajectory predictions suitable for autonomous system motion planning. It explicitly enforces scene consistency and learns an agent interaction policy that can be used for conditional prediction. Experiments on multiple real-world pedestrians and autonomous vehicle datasets show that ScePT} matches current state-of-the-art prediction accuracy with significantly improved scene consistency. We also demonstrate ScePT's ability to work with a downstream contingency planner.

Key facts. Cited by 63 papers in the map (data through 7 Oct 2026). Builds on 31 of its 51 references that are in the map. First posted on arXiv 18 Jun 2022.

Builds on

31 of 51 references.

References · 31

  1. 2019nuScenes: A multimodal dataset for autonomous drivingcited by 4,485
  2. 2018Social GAN: Socially Acceptable Trajectories with Generative Adversarial Networkscited by 687
  3. 2015Attention-Based Models for Speech Recognitioncited by 400
  4. 2018ChauffeurNet: Learning to Drive by Imitating the Best and Synthesizing the Worstcited by 391
  5. 2021AgentFormer: Agent-Aware Transformers for Socio-Temporal Multi-Agent Forecastingcited by 327
  6. 2017DESIRE: Distant Future Prediction in Dynamic Scenes with Interacting Agentscited by 310
  7. 2018SoPhie: An Attentive GAN for Predicting Paths Compliant to Social and Physical Constraintscited by 296
  8. 2018Multimodal Trajectory Predictions for Autonomous Driving using Deep Convolutional Networkscited by 289
  9. 2019CoverNet: Multimodal Behavior Prediction using Trajectory Setscited by 259
  10. 2018Convolutional Social Pooling for Vehicle Trajectory Predictioncited by 221
  11. 2021Multimodal Motion Prediction with Stacked Transformerscited by 207
  12. 2017Social Attention: Modeling Attention in Human Crowdscited by 185
19 more
  1. 2019PRECOG: PREdiction Conditioned On Goals in Visual Multi-Agent Settingscited by 178
  2. 2019Multiple Futures Predictioncited by 178
  3. 2019Multi-Agent Tensor Fusion for Contextual Trajectory Predictioncited by 131
  4. 2020Implicit Latent Variable Model for Scene-Consistent Motion Forecastingcited by 116
  5. 2019Spatially-Aware Graph Neural Networks for Relational Behavior Forecasting from Sensor Datacited by 104
  6. 2021LookOut: Diverse Multi-Future Prediction and Planning for Self-Drivingcited by 96
  7. 2017Imitating Driver Behavior with Generative Adversarial Networkscited by 92
  8. 2019Diverse Trajectory Forecasting with Determinantal Point Processescited by 80
  9. 2018Multi-Modal Trajectory Prediction of Surrounding Vehicles with Maneuver based LSTMscited by 77
  10. 2019DiversityGAN: Diversity-Aware Vehicle Motion Prediction via Latent Semantic Samplingcited by 40
  11. 2017CAR-Net: Clairvoyant Attentive Recurrent Networkcited by 34
  12. 2020MultiXNet: Multiclass Multistage Multimodal Motion Predictioncited by 31
  13. 2020MATS: An Interpretable Trajectory Forecasting Representation for Planning and Controlcited by 30
  14. 2021PredictionNet: Real-Time Joint Probabilistic Traffic Prediction for Planning, Control, and Simulationcited by 29
  15. 2020The Importance of Prior Knowledge in Precise Multimodal Predictioncited by 25
  16. 2021Interactive multi-modal motion planning with Branch Model Predictive Controlcited by 21
  17. 2021Grouptron: Dynamic Multi-Scale Graph Convolutional Networks for Group-Aware Dense Crowd Trajectory Forecastingcited by 19
  18. 2020Reactive motion planning with probabilistic safety guaranteescited by 10
  19. 2019Contingency Model Predictive Control for Automated Vehiclescited by 2

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2022: 8; 2023: 22; 2024: 14; 2025: 11; 2026: 8.

63 papers.

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  1. 2023Diffusion-based Generation, Optimization, and Planning in 3D Scenescited by 237
  2. 2022Guided Conditional Diffusion for Controllable Traffic Simulationcited by 189
  3. 2023GameFormer: Game-theoretic Modeling and Learning of Transformer-based Interactive Prediction and Planning for Autonomous Drivingcited by 141
  4. 2023Language-Guided Traffic Simulation via Scene-Level Diffusioncited by 110
  5. 2023LAformer: Trajectory Prediction for Autonomous Driving with Lane-Aware Scene Constraintscited by 50
  6. 2023Uncovering the Missing Pattern: Unified Framework Towards Trajectory Imputation and Predictioncited by 47
  7. 2022FJMP: Factorized Joint Multi-Agent Motion Prediction over Learned Directed Acyclic Interaction Graphscited by 41
  8. 2022DiffStack: A Differentiable and Modular Control Stack for Autonomous Vehiclescited by 36
  9. 2022Behavioral Intention Prediction in Driving Scenes: A Surveycited by 30
  10. 2023The Integration of Prediction and Planning in Deep Learning Automated Driving Systems: A Reviewcited by 29
  11. 2023SocialCircle: Learning the Angle-based Social Interaction Representation for Pedestrian Trajectory Predictioncited by 27
  12. 2024CtRL-Sim: Reactive and Controllable Driving Agents with Offline Reinforcement Learningcited by 26
38 more
  1. 2022GATraj: A Graph- and Attention-based Multi-Agent Trajectory Prediction Modelcited by 25
  2. 2023Reinforcement Learning with Human Feedback for Realistic Traffic Simulationcited by 20
  3. 2024T4P: Test-Time Training of Trajectory Prediction via Masked Autoencoder and Actor-specific Token Memorycited by 20
  4. 2023Unsupervised Sampling Promoting for Stochastic Human Trajectory Predictioncited by 17
  5. 2023Another Vertical View: A Hierarchical Network for Heterogeneous Trajectory Prediction via Spectrumscited by 14
  6. 2025Trajectory Prediction for Autonomous Driving: Progress, Limitations, and Future Directionscited by 14
  7. 2023Interactive Joint Planning for Autonomous Vehiclescited by 13
  8. 2024Intention-aware Denoising Diffusion Model for Trajectory Predictioncited by 11
  9. 2023Categorical Traffic Transformer: Interpretable and Diverse Behavior Prediction with Tokenized Latentcited by 10
  10. 2022Pishgu: Universal Path Prediction Network Architecture for Real-time Cyber-physical Edge Systemscited by 9
  11. 2023Deception Game: Closing the Safety-Learning Loop in Interactive Robot Autonomycited by 9
  12. 2024MATRIX: Multi-Agent Trajectory Generation with Diverse Contextscited by 9
  13. 2024EgoNav: Egocentric Scene-aware Human Trajectory Predictioncited by 9
  14. 2023Vision-based Multi-future Trajectory Prediction: A Surveycited by 8
  15. 2023Multimodal Manoeuvre and Trajectory Prediction for Automated Driving on Highways Using Transformer Networkscited by 7
  16. 2024Self-supervised Multi-future Occupancy Forecasting for Autonomous Drivingcited by 7
  17. 2023Trajectory Prediction with Observations of Variable-Length for Motion Planning in Highway Merging scenarioscited by 6
  18. 2023Staged Contact-Aware Global Human Motion Forecastingcited by 6
  19. 2024SocialCircle+: Learning the Angle-based Conditioned Interaction Representation for Pedestrian Trajectory Predictioncited by 6
  20. 2025Fully Unified Motion Planning for End-to-End Autonomous Drivingcited by 6
  21. 2024Blending Data-Driven Priors in Dynamic Gamescited by 5
  22. 2024Resonance: Learning to Predict Social-Aware Pedestrian Trajectories as Co-Vibrationscited by 5
  23. 2022LOPR: Latent Occupancy PRediction using Generative Modelscited by 4
  24. 2023XVTP3D: Cross-view Trajectory Prediction Using Shared 3D Queries for Autonomous Drivingcited by 4
  25. 2025CooperRisk: A Driving Risk Quantification Pipeline with Multi-Agent Cooperative Perception and Predictioncited by 4
  26. 2023Multi-Predictor Fusion: Combining Learning-based and Rule-based Trajectory Predictorscited by 3
  27. 2023FFINet: Future Feedback Interaction Network for Motion Forecastingcited by 3
  28. 2024A First Physical-World Trajectory Prediction Attack via LiDAR-induced Deceptions in Autonomous Drivingcited by 3
  29. 2026ParkDiffusion++: Ego Intention Conditioned Joint Multi-Agent Trajectory Prediction for Automated Parking using Diffusion Modelscited by 3
  30. 2023A Hierarchical Hybrid Learning Framework for Multi-agent Trajectory Predictioncited by 2
  31. 2023SIMMF: Semantics-aware Interactive Multiagent Motion Forecasting for Autonomous Vehicle Drivingcited by 2
  32. 2024DECODE: Domain-aware Continual Domain Expansion for Motion Predictioncited by 2
  33. 2025Direct Preference Optimization-Enhanced Multi-Guided Diffusion Model for Traffic Scenario Generationcited by 2
  34. 2025Recent Advances in Multi-Agent Human Trajectory Prediction: A Comprehensive Reviewcited by 2
  35. 2026DeepUrban: Interaction-Aware Trajectory Prediction and Planning for Automated Driving by Aerial Imagerycited by 2
  36. 2022P4P: Conflict-Aware Motion Prediction for Planning in Autonomous Drivingcited by 1
  37. 2024iMotion-LLM: Instruction-Conditioned Trajectory Generationcited by 1
  38. 2024Pedestrian motion prediction evaluation for urban autonomous drivingcited by 1

50 most cited of 63 All 63 (JSON)