mlsanityData to 14 Oct 2026

G-PECNet: Towards a Generalizable Pedestrian Trajectory Prediction System

arXiv 2210.09846 ↗First posted 15 Oct 2022cs.AI cs.CV cs.LGcited by 1

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Abstract (arXiv)

Navigating dynamic physical environments without obstructing or damaging human assets is of quintessential importance for social robots. In this work, we solve autonomous drone navigation's sub-problem of predicting out-of-domain human and agent trajectories using a deep generative model. Our method: General-PECNet or G-PECNet observes an improvement of 9.5% on the Final Displacement Error (FDE) on 2020's benchmark: PECNet through a combination of architectural improvements inspired by periodic activation functions and synthetic trajectory (data) augmentations using Hidden Markov Models (HMMs) and Reinforcement Learning (RL). Additionally, we propose a simple geometry-inspired metric for trajectory non-linearity and outlier detection, helpful for the task. Code available at https://github.com/Aryan-Garg/PECNet-Pedestrian-Trajectory-Prediction.git

Key facts. Cited by 1 paper in the map (data through 14 Oct 2026). Builds on 12 of its 20 references that are in the map. First posted on arXiv 15 Oct 2022.

Builds on

12 of 20 references.

References · 12

  1. 2020Denoising Diffusion Probabilistic Modelscited by 21,076
  2. 2020Implicit Neural Representations with Periodic Activation Functionscited by 2,238
  3. 2018Social GAN: Socially Acceptable Trajectories with Generative Adversarial Networkscited by 690
  4. 2016The CMA Evolution Strategy: A Tutorialcited by 377
  5. 2017DESIRE: Distant Future Prediction in Dynamic Scenes with Interacting Agentscited by 310
  6. 2018SoPhie: An Attentive GAN for Predicting Paths Compliant to Social and Physical Constraintscited by 298
  7. 2020It Is Not the Journey but the Destination: Endpoint Conditioned Trajectory Predictioncited by 236
  8. 2020From Goals, Waypoints & Paths To Long Term Human Trajectory Forecastingcited by 167
  9. 2019Conditional Generative Neural System for Probabilistic Trajectory Predictioncited by 76
  10. 2020Trajectory Forecasts in Unknown Environments Conditioned on Grid-Based Planscited by 72
  11. 2021View Vertically: A Hierarchical Network for Trajectory Prediction via Fourier Spectrumscited by 45
  12. 2019Conditional Flow Variational Autoencoders for Structured Sequence Predictioncited by 37

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Citing papers per year: 2026: 1.

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  1. 2026Learning Direct Control Policies with Flow Matching for Autonomous Drivingcited by 0