mlsanityData to 7 Oct 2026

FJMP: Factorized Joint Multi-Agent Motion Prediction over Learned Directed Acyclic Interaction Graphs

arXiv 2211.16197 ↗First posted 27 Nov 2022cs.CV cs.ROcited by 41

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Abstract (arXiv)

Predicting the future motion of road agents is a critical task in an autonomous driving pipeline. In this work, we address the problem of generating a set of scene-level, or joint, future trajectory predictions in multi-agent driving scenarios. To this end, we propose FJMP, a Factorized Joint Motion Prediction framework for multi-agent interactive driving scenarios. FJMP models the future scene interaction dynamics as a sparse directed interaction graph, where edges denote explicit interactions between agents. We then prune the graph into a directed acyclic graph (DAG) and decompose the joint prediction task into a sequence of marginal and conditional predictions according to the partial ordering of the DAG, where joint future trajectories are decoded using a directed acyclic graph neural network (DAGNN). We conduct experiments on the INTERACTION and Argoverse 2 datasets and demonstrate that FJMP produces more accurate and scene-consistent joint trajectory predictions than non-factorized approaches, especially on the most interactive and kinematically interesting agents. FJMP ranks 1st on the multi-agent test leaderboard of the INTERACTION dataset.

Key facts. Cited by 41 papers in the map (data through 7 Oct 2026). Builds on 42 of its 50 references that are in the map. First posted on arXiv 27 Nov 2022.

Builds on

42 of 50 references.

References · 42

  1. 2017Attention Is All You Needcited by 59,932
  2. 2018BERT: Pre-training of Deep Bidirectional Transformers for Language Understandingcited by 40,204
  3. 2014Adam: A Method for Stochastic Optimizationcited by 36,960
  4. 2020An Image is Worth 16x16 Words: Transformers for Image Recognition at Scalecited by 29,915
  5. 2017Graph Attention Networkscited by 8,854
  6. 2019nuScenes: A multimodal dataset for autonomous drivingcited by 4,485
  7. 2019Argoverse: 3D Tracking and Forecasting with Rich Mapscited by 728
  8. 2021Large Scale Interactive Motion Forecasting for Autonomous Driving : The Waymo Open Motion Datasetcited by 532
  9. 2020VectorNet: Encoding HD Maps and Agent Dynamics from Vectorized Representationcited by 528
  10. 2020Learning Lane Graph Representations for Motion Forecastingcited by 380
  11. 2021DenseTNT: End-to-end Trajectory Prediction from Dense Goal Setscited by 292
  12. 2022Motion Transformer with Global Intention Localization and Local Movement Refinementcited by 267
30 more
  1. 2021MultiPath++: Efficient Information Fusion and Trajectory Aggregation for Behavior Predictioncited by 246
  2. 2019INTERACTION Dataset: An INTERnational, Adversarial and Cooperative moTION Dataset in Interactive Driving Scenarios with Semantic Mapscited by 231
  3. 2021Multimodal Motion Prediction with Stacked Transformerscited by 207
  4. 2021GOHOME: Graph-Oriented Heatmap Output for future Motion Estimationcited by 146
  5. 2021Latent Variable Sequential Set Transformers For Joint Multi-Agent Motion Predictioncited by 131
  6. 2021HOME: Heatmap Output for future Motion Estimationcited by 122
  7. 2020Implicit Latent Variable Model for Scene-Consistent Motion Forecastingcited by 116
  8. 2021LaneRCNN: Distributed Representations for Graph-Centric Motion Forecastingcited by 112
  9. 2021Multimodal Trajectory Prediction Conditioned on Lane-Graph Traversalscited by 112
  10. 2022HDGT: Heterogeneous Driving Graph Transformer for Multi-Agent Trajectory Prediction via Scene Encodingcited by 109
  11. 2019Spatially-Aware Graph Neural Networks for Relational Behavior Forecasting from Sensor Datacited by 104
  12. 2021THOMAS: Trajectory Heatmap Output with learned Multi-Agent Samplingcited by 101
  13. 2021LookOut: Diverse Multi-Future Prediction and Planning for Self-Drivingcited by 96
  14. 2021TPCN: Temporal Point Cloud Networks for Motion Forecastingcited by 94
  15. 2022M2I: From Factored Marginal Trajectory Prediction to Interactive Predictioncited by 81
  16. 2021Multi-modal Motion Prediction with Transformer-based Neural Network for Autonomous Drivingcited by 73
  17. 2021Directed Acyclic Graph Neural Networkscited by 70
  18. 2020Diverse and Admissible Trajectory Forecasting through Multimodal Context Understandingcited by 68
  19. 2022GoRela: Go Relative for Viewpoint-Invariant Motion Forecastingcited by 68
  20. 2021LaPred: Lane-Aware Prediction of Multi-Modal Future Trajectories of Dynamic Agentscited by 64
  21. 2021Learning to Predict Vehicle Trajectories with Model-based Planningcited by 63
  22. 2022ScePT: Scene-consistent, Policy-based Trajectory Predictions for Planningcited by 63
  23. 2021Divide-and-Conquer for Lane-Aware Diverse Trajectory Predictioncited by 37
  24. 2021RAIN: Reinforced Hybrid Attention Inference Network for Motion Forecastingcited by 36
  25. 2022SSL-Lanes: Self-Supervised Learning for Motion Forecasting in Autonomous Drivingcited by 31
  26. 2019Joint Interaction and Trajectory Prediction for Autonomous Driving using Graph Neural Networkscited by 17
  27. 2020Interaction-Based Trajectory Prediction Over a Hybrid Traffic Graphcited by 17
  28. 2021Trajectory Prediction with Linguistic Representationscited by 13
  29. 2021AIR2 for Interaction Predictioncited by 9
  30. 2022Conditional Goal-oriented Trajectory Prediction for Interacting Vehicles with Vectorized Representationcited by 3

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2023: 2; 2024: 15; 2025: 14; 2026: 10.

41 papers.

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  1. 2024HPNet: Dynamic Trajectory Forecasting with Historical Prediction Attentioncited by 37
  2. 2024Multi-agent Long-term 3D Human Pose Forecasting via Interaction-aware Trajectory Conditioningcited by 29
  3. 2025Scenario Dreamer: Vectorized Latent Diffusion for Generating Driving Simulation Environmentscited by 27
  4. 2024CtRL-Sim: Reactive and Controllable Driving Agents with Offline Reinforcement Learningcited by 26
  5. 2023Open-sourced Data Ecosystem in Autonomous Driving: the Present and Futurecited by 22
  6. 2024Adapting to Length Shift: FlexiLength Network for Trajectory Predictioncited by 22
  7. 2024T4P: Test-Time Training of Trajectory Prediction via Masked Autoencoder and Actor-specific Token Memorycited by 20
  8. 2024Sports-Traj: A Unified Trajectory Generation Model for Multi-Agent Movement in Sportscited by 19
  9. 2024VisionTrap: Vision-Augmented Trajectory Prediction Guided by Textual Descriptionscited by 18
  10. 2024Optimizing Diffusion Models for Joint Trajectory Prediction and Controllable Generationcited by 18
  11. 2024Motion Forecasting in Continuous Drivingcited by 11
  12. 2025Minds on the Move: Decoding Trajectory Prediction in Autonomous Driving with Cognitive Insightscited by 10
29 more
  1. 2024ModeSeq: Taming Sparse Multimodal Motion Prediction with Sequential Mode Modelingcited by 7
  2. 2024FutureNet-LOF: Joint Trajectory Prediction and Lane Occupancy Field Prediction with Future Context Encodingcited by 6
  3. 2024Multi-Agent Trajectory Prediction with Difficulty-Guided Feature Enhancement Networkcited by 6
  4. 2025DONUT: A Decoder-Only Model for Trajectory Predictioncited by 6
  5. 2025Generative Active Learning for Long-tail Trajectory Prediction via Controllable Diffusion Modelcited by 6
  6. 2023Adversarial Backdoor Attack by Naturalistic Data Poisoning on Trajectory Prediction in Autonomous Drivingcited by 5
  7. 2024MS-Net: A Multi-Path Sparse Model for Motion Prediction in Multi-Scenescited by 4
  8. 2024KI-GAN: Knowledge-Informed Generative Adversarial Networks for Enhanced Multi-Vehicle Trajectory Forecasting at Signalized Intersectionscited by 4
  9. 2024UVTM: Universal Vehicle Trajectory Modeling with ST Feature Domain Generationcited by 3
  10. 2025Realistic Adversarial Attacks for Robustness Evaluation of Trajectory Prediction Models via Future State Perturbationcited by 3
  11. 2025Knowledge-Informed Multi-Agent Trajectory Prediction at Signalized Intersections for Infrastructure-to-Everythingcited by 2
  12. 2025GAMDTP: Dynamic Trajectory Prediction with Graph Attention Mamba Networkcited by 2
  13. 2025RetroMotion: Retrocausal Motion Forecasting Models are Instructablecited by 2
  14. 2025From Static to Dynamic: a Survey of Topology-Aware Perception in Autonomous Drivingcited by 2
  15. 2026Recover to Predict: Progressive Retrospective Learning for Variable-Length Trajectory Predictioncited by 2
  16. 2026PV-WM: A Heterogeneous Micro-Macro World Model for Articulated Pedestrian-Vehicle Co-Rolloutcited by 2
  17. 2026Streaming Real-Time Trajectory Prediction Using Endpoint-Aware Modelingcited by 1
  18. 2026Evaluating randomized smoothing as a defense against adversarial attacks in trajectory predictioncited by 1
  19. 2025Improving Consistency in Vehicle Trajectory Prediction Through Preference Optimizationcited by 0
  20. 2025ILNet: Trajectory Prediction with Inverse Learning Attention for Enhancing Intention Capturecited by 0
  21. 2025ProgD: Progressive Multi-scale Decoding with Dynamic Graphs for Joint Multi-agent Motion Forecastingcited by 0
  22. 2025AdaSports-Traj: Role- and Domain-Aware Adaptation for Multi-Agent Trajectory Modeling in Sportscited by 0
  23. 2025From Camera-Based Sensing to Reasoning: A Comprehensive Review Toward Proactive Vulnerable Road User Safetycited by 0
  24. 2026Future-Interactions-Aware Trajectory Prediction via Braid Theorycited by 0
  25. 2026SHARP: Short-Window Streaming for Accurate and Robust Prediction in Motion Forecastingcited by 0
  26. 2026ECTraj: Enhanced Consistency Training for Multi-Agent Trajectory Predictioncited by 0
  27. 2026JACoP: Joint Alignment for Compliant Multi-Agent Predictioncited by 0
  28. 2026Emotion in an active inference model of human drivingcited by 0
  29. 2026SSP-DMGTimeNet: Physics-Constrained Learning for Spatiotemporal Trajectory Prediction of Vehicle Platoonscited by 0