mlsanityData to 7 Oct 2026

MTP-GO: Graph-Based Probabilistic Multi-Agent Trajectory Prediction with Neural ODEs

arXiv 2302.00735 ↗First posted 1 Feb 2023cs.RO cs.AI cs.LGcited by 19

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Abstract (arXiv)

Enabling resilient autonomous motion planning requires robust predictions of surrounding road users' future behavior. In response to this need and the associated challenges, we introduce our model titled MTP-GO. The model encodes the scene using temporal graph neural networks to produce the inputs to an underlying motion model. The motion model is implemented using neural ordinary differential equations where the state-transition functions are learned with the rest of the model. Multimodal probabilistic predictions are obtained by combining the concept of mixture density networks and Kalman filtering. The results illustrate the predictive capabilities of the proposed model across various data sets, outperforming several state-of-the-art methods on a number of metrics.

Key facts. Cited by 19 papers in the map (data through 7 Oct 2026). Builds on 45 of its 83 references that are in the map. First posted on arXiv 1 Feb 2023.

Builds on

45 of 83 references.

References · 45

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2023: 3; 2024: 6; 2025: 7; 2026: 3.

19 papers.

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  1. 2024Diffusion-Based Environment-Aware Trajectory Predictioncited by 14
  2. 2025Trajectory Prediction for Autonomous Driving: Progress, Limitations, and Future Directionscited by 14
  3. 2025Graph ODEs and Beyond: A Comprehensive Survey on Integrating Differential Equations with Graph Neural Networkscited by 14
  4. 2023Improving Transferability for Cross-domain Trajectory Prediction via Neural Stochastic Differential Equationcited by 12
  5. 2024NEST: A Neuromodulated Small-world Hypergraph Trajectory Prediction Model for Autonomous Drivingcited by 12
  6. 2024Risk-Aware Vehicle Trajectory Prediction Under Safety-Critical Scenarioscited by 7
  7. 2023Evaluation of Differentially Constrained Motion Models for Graph-Based Trajectory Predictioncited by 6
  8. 2023Stability-Informed Initialization of Neural Ordinary Differential Equationscited by 5
  9. 2025Social-Pose: Enhancing Trajectory Prediction with Human Body Posecited by 5
  10. 2025RiskNet: Interaction-Aware Risk Forecasting for Autonomous Driving in Long-Tail Scenarioscited by 4
  11. 2024Toward Unified Practices in Trajectory Prediction Research on Bird's-Eye-View Datasetscited by 2
  12. 2024Enhanced Prediction of Multi-Agent Trajectories via Control Inference and State-Space Dynamicscited by 2
7 more
  1. 2025Diffusion Models for Reinforcement Learning: Foundations, Taxonomy, and Developmentcited by 2
  2. 2024Towards Safe and Reliable Autonomous Driving: Dynamic Occupancy Set Predictioncited by 0
  3. 2025EMT: A Visual Multi-Task Benchmark Dataset for Autonomous Drivingcited by 0
  4. 2025Generalizable Trajectory Prediction via Inverse Reinforcement Learning with Mamba-Graph Architecturecited by 0
  5. 2026ROSA-RL: Uncertainty-Aware Roundabout Optimized Speed Advisory with Reinforcement Learningcited by 0
  6. 2026Unveiling Transferability in Trajectory Prediction via Latent Scene Embeddingscited by 0
  7. 2026SWIFT: A Small-World Interaction Framework for Flow-Aware Trajectory Prediction in Autonomous Drivingcited by 0