mlsanityData to 14 Oct 2026

ProphNet: Efficient Agent-Centric Motion Forecasting with Anchor-Informed Proposals

arXiv 2303.12071 ↗First posted 21 Mar 2023cs.CV cs.ROcited by 48

Not on the map. Why?

Abstract (arXiv)

Motion forecasting is a key module in an autonomous driving system. Due to the heterogeneous nature of multi-sourced input, multimodality in agent behavior, and low latency required by onboard deployment, this task is notoriously challenging. To cope with these difficulties, this paper proposes a novel agent-centric model with anchor-informed proposals for efficient multimodal motion prediction. We design a modality-agnostic strategy to concisely encode the complex input in a unified manner. We generate diverse proposals, fused with anchors bearing goal-oriented scene context, to induce multimodal prediction that covers a wide range of future trajectories. Our network architecture is highly uniform and succinct, leading to an efficient model amenable for real-world driving deployment. Experiments reveal that our agent-centric network compares favorably with the state-of-the-art methods in prediction accuracy, while achieving scene-centric level inference latency.

Key facts. Cited by 48 papers in the map (data through 14 Oct 2026). Builds on 28 of its 32 references that are in the map. First posted on arXiv 21 Mar 2023.

Builds on

28 of 32 references.

References · 28

  1. 2017Attention Is All You Needcited by 60,361
  2. 2014Adam: A Method for Stochastic Optimizationcited by 37,240
  3. 2019PyTorch: An Imperative Style, High-Performance Deep Learning Librarycited by 20,305
  4. 2019Argoverse: 3D Tracking and Forecasting with Rich Mapscited by 732
  5. 2023Argoverse 2: Next Generation Datasets for Self-Driving Perception and Forecastingcited by 707
  6. 2020VectorNet: Encoding HD Maps and Agent Dynamics from Vectorized Representationcited by 530
  7. 2019MultiPath: Multiple Probabilistic Anchor Trajectory Hypotheses for Behavior Predictioncited by 420
  8. 2020Learning Lane Graph Representations for Motion Forecastingcited by 382
  9. 2021Pay Attention to MLPscited by 368
  10. 2020TNT: Target-driveN Trajectory Predictioncited by 347
  11. 2021DenseTNT: End-to-end Trajectory Prediction from Dense Goal Setscited by 295
  12. 2022Wayformer: Motion Forecasting via Simple & Efficient Attention Networkscited by 280
16 more
  1. 2019CoverNet: Multimodal Behavior Prediction using Trajectory Setscited by 259
  2. 2021MultiPath++: Efficient Information Fusion and Trajectory Aggregation for Behavior Predictioncited by 246
  3. 2021Multimodal Motion Prediction with Stacked Transformerscited by 208
  4. 2019Multiple Futures Predictioncited by 178
  5. 2021GOHOME: Graph-Oriented Heatmap Output for future Motion Estimationcited by 146
  6. 2021LaneRCNN: Distributed Representations for Graph-Centric Motion Forecastingcited by 113
  7. 2021TPCN: Temporal Point Cloud Networks for Motion Forecastingcited by 94
  8. 2022GoRela: Go Relative for Viewpoint-Invariant Motion Forecastingcited by 68
  9. 2021Learning to Predict Vehicle Trajectories with Model-based Planningcited by 63
  10. 2021Exploring Simple 3D Multi-Object Tracking for Autonomous Drivingcited by 56
  11. 2021Self-Supervised Pillar Motion Learning for Autonomous Drivingcited by 44
  12. 2022Path-Aware Graph Attention for HD Maps in Motion Predictioncited by 23
  13. 2022Bootstrap Motion Forecasting With Self-Consistent Constraintscited by 23
  14. 2022TENET: Transformer Encoding Network for Effective Temporal Flow on Motion Predictioncited by 14
  15. 2022BANet: Motion Forecasting with Boundary Aware Networkcited by 10
  16. 2022TL-GAN: Improving Traffic Light Recognition via Data Synthesis for Autonomous Drivingcited by 1

Built on by

Cited by year (2026 to 14 Oct)

Citing papers per year: 2023: 10; 2024: 18; 2025: 12; 2026: 8.

48 papers.

Sort:

By area:

  1. 2023PillarNeXt: Rethinking Network Designs for 3D Object Detection in LiDAR Point Cloudscited by 54
  2. 2023DistillBEV: Boosting Multi-Camera 3D Object Detection with Cross-Modal Knowledge Distillationcited by 41
  3. 2024HPNet: Dynamic Trajectory Forecasting with Historical Prediction Attentioncited by 38
  4. 2024SmartRefine: A Scenario-Adaptive Refinement Framework for Efficient Motion Predictioncited by 34
  5. 2023Real-Time Motion Prediction via Heterogeneous Polyline Transformer with Relative Pose Encodingcited by 33
  6. 2023SEPT: Towards Efficient Scene Representation Learning for Motion Predictioncited by 27
  7. 2023GEDepth: Ground Embedding for Monocular Depth Estimationcited by 26
  8. 2023Learning Cooperative Trajectory Representations for Motion Forecastingcited by 21
  9. 2024Motion Forecasting in Continuous Drivingcited by 11
  10. 2024Efficient Motion Prediction: A Lightweight & Accurate Trajectory Prediction Model With Fast Training and Inference Speedcited by 10
  11. 2023Transcendental Idealism of Planner: Evaluating Perception from Planning Perspective for Autonomous Drivingcited by 9
  12. 2024JointMotion: Joint Self-Supervision for Joint Motion Predictioncited by 7
36 more
  1. 2024SmartPretrain: Model-Agnostic and Dataset-Agnostic Representation Learning for Motion Predictioncited by 7
  2. 2025DONUT: A Decoder-Only Model for Trajectory Predictioncited by 7
  3. 2023RedMotion: Motion Prediction via Redundancy Reductioncited by 6
  4. 2023PBP: Path-based Trajectory Prediction for Autonomous Drivingcited by 6
  5. 2024FutureNet-LOF: Joint Trajectory Prediction and Lane Occupancy Field Prediction with Future Context Encodingcited by 6
  6. 2024Multi-Agent Trajectory Prediction with Difficulty-Guided Feature Enhancement Networkcited by 6
  7. 2023Improving Autonomous Driving Safety with POP: A Framework for Accurate Partially Observed Trajectory Predictionscited by 5
  8. 2025ForeSight: Multi-View Streaming Joint Object Detection and Trajectory Forecastingcited by 5
  9. 2024A Survey on Large Language Models from Concept to Implementationcited by 4
  10. 2024SceneMotion: From Agent-Centric Embeddings to Scene-Wide Forecastscited by 4
  11. 2024Cross-Modal Self-Supervised Learning with Effective Contrastive Units for LiDAR Point Cloudscited by 4
  12. 2025Future-Aware Interaction Network For Motion Forecastingcited by 4
  13. 2024Controllable Diverse Sampling for Diffusion Based Motion Behavior Forecastingcited by 3
  14. 2024ProIn: Learning to Predict Trajectory Based on Progressive Interactions for Autonomous Drivingcited by 3
  15. 2024Forecast-PEFT: Parameter-Efficient Fine-Tuning for Pre-trained Motion Forecasting Modelscited by 3
  16. 2024Snapshot: Towards Application-centered Models for Pedestrian Trajectory Prediction in Urban Traffic Environmentscited by 3
  17. 2025When Every Millisecond Counts: Real-Time Anomaly Detection via the Multimodal Asynchronous Hybrid Networkcited by 3
  18. 2024ITPNet: Towards Instantaneous Trajectory Prediction for Autonomous Drivingcited by 2
  19. 2025DyTTP: Trajectory Prediction with Normalization-Free Transformerscited by 2
  20. 2025HAMF: A Hybrid Attention-Mamba Framework for Joint Scene Context Understanding and Future Motion Representation Learningcited by 2
  21. 2025Autoregressive Meta-Actions for Unified Controllable Trajectory Generationcited by 2
  22. 2025Intention-Aware Diffusion Model for Pedestrian Trajectory Predictioncited by 2
  23. 2026Recover to Predict: Progressive Retrospective Learning for Variable-Length Trajectory Predictioncited by 2
  24. 2024PreGSU-A Generalized Traffic Scene Understanding Model for Autonomous Driving based on Pre-trained Graph Attention Networkcited by 1
  25. 2024Multi-modal Motion Prediction using Temporal Ensembling with Learning-based Aggregationcited by 1
  26. 2025Post-interactive Multimodal Trajectory Prediction for Autonomous Drivingcited by 1
  27. 2026HiMAP: History-aware Map-occupancy Prediction with Fallbackcited by 1
  28. 2026Streaming Real-Time Trajectory Prediction Using Endpoint-Aware Modelingcited by 1
  29. 2025LTMSformer: A Local Trend-Aware Attention and Motion State Encoding Transformer for Multi-Agent Trajectory Predictioncited by 0
  30. 2025ILNet: Trajectory Prediction with Inverse Learning Attention for Enhancing Intention Capturecited by 0
  31. 2025Ensemble of Pre-Trained Models for Long-Tailed Trajectory Predictioncited by 0
  32. 2026TaPD: Temporal-adaptive Progressive Distillation for Observation-Adaptive Trajectory Forecasting in Autonomous Drivingcited by 0
  33. 2026Fusing Driver Perceived and Physical Risk for Safety Critical Scenario Screening in Autonomous Drivingcited by 0
  34. 2026SHARP: Short-Window Streaming for Accurate and Robust Prediction in Motion Forecastingcited by 0
  35. 2026Recall to Predict: Grounding Motion Forecasting in Interpretable Motion Bankcited by 0
  36. 2026MoCAR: Motion-code Coordinate-aware AutoRegression for Continuous Trajectory Forecastingcited by 0