# Pishgu: Universal Path Prediction Network Architecture for Real-time Cyber-physical Edge Systems

arXiv: https://arxiv.org/abs/2210.08057 · HTML: https://mlsanity.com/paper/2210.08057/

## Key facts

- Cited by 9 papers in the map (data through 14 Oct 2026).
- Builds on 31 of its 75 references that are in the map.
- First posted on arXiv 14 Oct 2022.

## Builds on (most cited first, 30 of 31)

- [Adam: A Method for Stochastic Optimization](https://mlsanity.com/paper/1412.6980/) (2014)
- [Semi-Supervised Classification with Graph Convolutional Networks](https://mlsanity.com/paper/1609.02907/) (2016)
- [Graph Attention Networks](https://mlsanity.com/paper/1710.10903/) (2017)
- [How Powerful are Graph Neural Networks?](https://mlsanity.com/paper/1810.00826/) (2018)
- [CBAM: Convolutional Block Attention Module](https://mlsanity.com/paper/1807.06521/) (2018)
- [Social GAN: Socially Acceptable Trajectories with Generative Adversarial Networks](https://mlsanity.com/paper/1803.10892/) (2018)
- [Multimodal Trajectory Predictions for Autonomous Driving using Deep Convolutional Networks](https://mlsanity.com/paper/1809.10732/) (2018)
- [Convolutional Social Pooling for Vehicle Trajectory Prediction](https://mlsanity.com/paper/1805.06771/) (2018)
- [Social Attention: Modeling Attention in Human Crowds](https://mlsanity.com/paper/1710.04689/) (2017)
- [From Goals, Waypoints & Paths To Long Term Human Trajectory Forecasting](https://mlsanity.com/paper/2012.01526/) (2020)
- [Peeking into the Future: Predicting Future Person Activities and Locations in Videos](https://mlsanity.com/paper/1902.03748/) (2019)
- [PiP: Planning-informed Trajectory Prediction for Autonomous Driving](https://mlsanity.com/paper/2003.11476/) (2020)
- [GRIP++: Enhanced Graph-based Interaction-aware Trajectory Prediction for Autonomous Driving](https://mlsanity.com/paper/1907.07792/) (2019)
- [The Garden of Forking Paths: Towards Multi-Future Trajectory Prediction](https://mlsanity.com/paper/1912.06445/) (2019)
- [Human Trajectory Prediction via Neural Social Physics](https://mlsanity.com/paper/2207.10435/) (2022)
- [ScePT: Scene-consistent, Policy-based Trajectory Predictions for Planning](https://mlsanity.com/paper/2206.13387/) (2022)
- [View Vertically: A Hierarchical Network for Trajectory Prediction via Fourier Spectrums](https://mlsanity.com/paper/2110.07288/) (2021)
- [Human Trajectory Prediction via Counterfactual Analysis](https://mlsanity.com/paper/2107.14202/) (2021)
- [Graph-Based Spatial-Temporal Convolutional Network for Vehicle Trajectory Prediction in Autonomous Driving](https://mlsanity.com/paper/2109.12764/) (2021)
- [Graph-based Spatial Transformer with Memory Replay for Multi-future Pedestrian Trajectory Prediction](https://mlsanity.com/paper/2206.05712/) (2022)
- [Congestion-aware Multi-agent Trajectory Prediction for Collision Avoidance](https://mlsanity.com/paper/2103.14231/) (2021)
- [SSAGCN: Social Soft Attention Graph Convolution Network for Pedestrian Trajectory Prediction](https://mlsanity.com/paper/2112.02459/) (2021)
- [SCALE-Net: Scalable Vehicle Trajectory Prediction Network under Random Number of Interacting Vehicles via Edge-enhanced Graph Convolutional Neural Network](https://mlsanity.com/paper/2002.12609/) (2020)
- [DeepTrack: Lightweight Deep Learning for Vehicle Path Prediction in Highways](https://mlsanity.com/paper/2108.00505/) (2021)
- [GraphTCN: Spatio-Temporal Interaction Modeling for Human Trajectory Prediction](https://mlsanity.com/paper/2003.07167/) (2020)
- [CARPe Posterum: A Convolutional Approach for Real-time Pedestrian Path Prediction](https://mlsanity.com/paper/2005.12469/) (2020)
- [Real-World Graph Convolution Networks (RW-GCNs) for Action Recognition in Smart Video Surveillance](https://mlsanity.com/paper/2201.05739/) (2022)
- [Moving Objects Analytics: Survey on Future Location & Trajectory Prediction Methods](https://mlsanity.com/paper/1807.04639/) (2018)
- [Reconfigurable Cyber-Physical System for Critical Infrastructure Protection in Smart Cities via Smart Video-Surveillance](https://mlsanity.com/paper/2011.14416/) (2020)
- [Sliding Sequential CVAE with Time Variant Socially-aware Rethinking for Trajectory Prediction](https://mlsanity.com/paper/2110.15016/) (2021)

## Built on by (most cited first, 9 of 9)

- [An Exploratory Study on Human-Centric Video Anomaly Detection through Variational Autoencoders and Trajectory Prediction](https://mlsanity.com/paper/2406.15395/) (2024)
- [VT-Former: An Exploratory Study on Vehicle Trajectory Prediction for Highway Surveillance through Graph Isomorphism and Transformer](https://mlsanity.com/paper/2311.06623/) (2023)
- [Generating Traffic Scenarios via In-Context Learning to Learn Better Motion Planner](https://mlsanity.com/paper/2412.18086/) (2024)
- [Shopformer: Transformer-Based Framework for Detecting Shoplifting via Human Pose](https://mlsanity.com/paper/2504.19970/) (2025)
- [A POV-based Highway Vehicle Trajectory Dataset and Prediction Architecture](https://mlsanity.com/paper/2303.06202/) (2023)
- [VegaEdge: Edge AI Confluence Anomaly Detection for Real-Time Highway IoT-Applications](https://mlsanity.com/paper/2311.07880/) (2023)
- [Spatial-Temporal Conditional Random Field for Human Trajectory Prediction](https://mlsanity.com/paper/2311.18198/) (2023)
- [Trajectory Prediction for Autonomous Driving using Agent-Interaction Graph Embedding](https://mlsanity.com/paper/2410.23298/) (2024)
- [EdgeVTP: Exploration of Latency-efficient Trajectory Prediction for Edge-based Embedded Vision Applications](https://mlsanity.com/paper/2604.16783/) (2026)

## Abstract (arXiv)

Path prediction is an essential task for many real-world Cyber-Physical Systems (CPS) applications, from autonomous driving and traffic monitoring/management to pedestrian/worker safety. These real-world CPS applications need a robust, lightweight path prediction that can provide a universal network architecture for multiple subjects (e.g., pedestrians and vehicles) from different perspectives. However, most existing algorithms are tailor-made for a unique subject with a specific camera perspective and scenario. This article presents Pishgu, a universal lightweight network architecture, as a robust and holistic solution for path prediction. Pishgu's architecture can adapt to multiple path prediction domains with different subjects (vehicles, pedestrians), perspectives (bird's-eye, high-angle), and scenes (sidewalk, highway). Our proposed architecture captures the inter-dependencies within the subjects in each frame by taking advantage of Graph Isomorphism Networks and the attention module. We separately train and evaluate the efficacy of our architecture on three different CPS domains across multiple perspectives (vehicle bird's-eye view, pedestrian bird's-eye view, and human high-angle view). Pishgu outperforms state-of-the-art solutions in the vehicle bird's-eye view domain by 42% and 61% and pedestrian high-angle view domain by 23% and 22% in terms of ADE and FDE, respectively. Additionally, we analyze the domain-specific details for various datasets to understand their effect on path prediction and model interpretation. Finally, we report the latency and throughput for all three domains on multiple embedded platforms showcasing the robustness and adaptability of Pishgu for real-world integration into CPS applications.