mlsanityData to 7 Oct 2026

FEND: A Future Enhanced Distribution-Aware Contrastive Learning Framework for Long-tail Trajectory Prediction

arXiv 2303.16574 ↗First posted 29 Mar 2023cs.CVcited by 31

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Abstract (arXiv)

Predicting the future trajectories of the traffic agents is a gordian technique in autonomous driving. However, trajectory prediction suffers from data imbalance in the prevalent datasets, and the tailed data is often more complicated and safety-critical. In this paper, we focus on dealing with the long-tail phenomenon in trajectory prediction. Previous methods dealing with long-tail data did not take into account the variety of motion patterns in the tailed data. In this paper, we put forward a future enhanced contrastive learning framework to recognize tail trajectory patterns and form a feature space with separate pattern clusters. Furthermore, a distribution aware hyper predictor is brought up to better utilize the shaped feature space. Our method is a model-agnostic framework and can be plugged into many well-known baselines. Experimental results show that our framework outperforms the state-of-the-art long-tail prediction method on tailed samples by 9.5% on ADE and 8.5% on FDE, while maintaining or slightly improving the averaged performance. Our method also surpasses many long-tail techniques on trajectory prediction task.

Key facts. Cited by 31 papers in the map (data through 7 Oct 2026). Builds on 39 of its 51 references that are in the map. First posted on arXiv 29 Mar 2023.

Builds on

39 of 51 references.

References · 39

  1. 2020A Simple Framework for Contrastive Learning of Visual Representationscited by 11,979
  2. 2018Representation Learning with Contrastive Predictive Codingcited by 7,662
  3. 2020Unsupervised Learning of Visual Features by Contrasting Cluster Assignmentscited by 2,845
  4. 2020Supervised Contrastive Learningcited by 2,803
  5. 2019Class-Balanced Loss Based on Effective Number of Samplescited by 1,239
  6. 2016HyperNetworkscited by 1,003
  7. 2019Learning Imbalanced Datasets with Label-Distribution-Aware Margin Losscited by 987
  8. 2018Social GAN: Socially Acceptable Trajectories with Generative Adversarial Networkscited by 687
  9. 2020Prototypical Contrastive Learning of Unsupervised Representationscited by 636
  10. 2020Long-tail learning via logit adjustmentcited by 605
  11. 2019MultiPath: Multiple Probabilistic Anchor Trajectory Hypotheses for Behavior Predictioncited by 417
  12. 2020Hard Negative Mixing for Contrastive Learningcited by 399
27 more
  1. 2020TNT: Target-driveN Trajectory Predictioncited by 345
  2. 2021AgentFormer: Agent-Aware Transformers for Socio-Temporal Multi-Agent Forecastingcited by 327
  3. 2020Social-STGCNN: A Social Spatio-Temporal Graph Convolutional Neural Network for Human Trajectory Predictioncited by 324
  4. 2018SoPhie: An Attentive GAN for Predicting Paths Compliant to Social and Physical Constraintscited by 296
  5. 2019CoverNet: Multimodal Behavior Prediction using Trajectory Setscited by 259
  6. 2020Spatio-Temporal Graph Transformer Networks for Pedestrian Trajectory Predictioncited by 218
  7. 2020From Goals, Waypoints & Paths To Long Term Human Trajectory Forecastingcited by 166
  8. 2021Delving into Deep Imbalanced Regressioncited by 157
  9. 2021Targeted Supervised Contrastive Learning for Long-Tailed Recognitioncited by 132
  10. 2020Human Trajectory Forecasting in Crowds: A Deep Learning Perspectivecited by 128
  11. 2022GroupNet: Multiscale Hypergraph Neural Networks for Trajectory Prediction with Relational Reasoningcited by 128
  12. 2015Relay Backpropagation for Effective Learning of Deep Convolutional Neural Networkscited by 115
  13. 2019SR-LSTM: State Refinement for LSTM towards Pedestrian Trajectory Predictioncited by 111
  14. 2019Overcoming Limitations of Mixture Density Networks: A Sampling and Fitting Framework for Multimodal Future Predictioncited by 96
  15. 2022Remember Intentions: Retrospective-Memory-based Trajectory Predictioncited by 86
  16. 2021Distributional Robustness Loss for Long-tail Learningcited by 84
  17. 2021Trajectory Prediction with Latent Belief Energy-Based Modelcited by 60
  18. 2022MUSE-VAE: Multi-Scale VAE for Environment-Aware Long Term Trajectory Predictioncited by 59
  19. 2020Social NCE: Contrastive Learning of Socially-aware Motion Representationscited by 58
  20. 2018Accurate and Diverse Sampling of Sequences based on a "Best of Many" Sample Objectivecited by 56
  21. 2021On Exposing the Challenging Long Tail in Future Prediction of Traffic Actorscited by 48
  22. 2021Three Steps to Multimodal Trajectory Prediction: Modality Clustering, Classification and Synthesiscited by 46
  23. 2021Divide-and-Conquer for Lane-Aware Diverse Trajectory Predictioncited by 37
  24. 2018PORCA: Modeling and Planning for Autonomous Driving among Many Pedestrianscited by 36
  25. 2021Personalized Trajectory Prediction via Distribution Discriminationcited by 30
  26. 2021Injecting Planning-Awareness into Prediction and Detection Evaluationcited by 21
  27. 2022Action-based Contrastive Learning for Trajectory Predictioncited by 15

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2023: 2; 2024: 13; 2025: 11; 2026: 5.

31 papers.

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  1. 2024PLUTO: Pushing the Limit of Imitation Learning-based Planning for Autonomous Drivingcited by 84
  2. 2024UniTraj: A Unified Framework for Scalable Vehicle Trajectory Predictioncited by 51
  3. 2024SingularTrajectory: Universal Trajectory Predictor Using Diffusion Modelcited by 35
  4. 2024Can Language Beat Numerical Regression? Language-Based Multimodal Trajectory Predictioncited by 31
  5. 2024On the Role of Long-tail Knowledge in Retrieval Augmented Large Language Modelscited by 10
  6. 2025BP-SGCN: Behavioral Pseudo-Label Informed Sparse Graph Convolution Network for Pedestrian and Heterogeneous Trajectory Predictioncited by 9
  7. 2024Recurrent Aligned Network for Generalized Pedestrian Trajectory Predictioncited by 8
  8. 2025Motion Forecasting for Autonomous Vehicles: A Surveycited by 8
  9. 2024TrACT: A Training Dynamics Aware Contrastive Learning Framework for Long-tail Trajectory Predictioncited by 7
  10. 2025Continuous Locomotive Crowd Behavior Generationcited by 7
  11. 2024Multi-Agent Trajectory Prediction with Difficulty-Guided Feature Enhancement Networkcited by 6
  12. 2025Generative Active Learning for Long-tail Trajectory Prediction via Controllable Diffusion Modelcited by 6
19 more
  1. 2024AMEND: A Mixture of Experts Framework for Long-tailed Trajectory Predictioncited by 4
  2. 2025RIFT: Group-Relative RL Fine-Tuning for Realistic and Controllable Traffic Simulationcited by 4
  3. 2025AMD: Adaptive Momentum and Decoupled Contrastive Learning Framework for Robust Long-Tail Trajectory Predictioncited by 4
  4. 2023Enhancing Mapless Trajectory Prediction through Knowledge Distillationcited by 3
  5. 2024Den-TP: A Density-Balanced Data Curation and Evaluation Framework for Trajectory Predictioncited by 3
  6. 2024MetaTra: Meta-Learning for Generalized Trajectory Prediction in Unseen Domaincited by 2
  7. 2023Enhancing Trajectory Prediction through Self-Supervised Waypoint Noise Predictioncited by 1
  8. 2024Map-Free Trajectory Prediction with Map Distillation and Hierarchical Encodingcited by 1
  9. 2025Risk-Informed Diffusion Transformer for Long-Tail Trajectory Prediction in the Crash Scenariocited by 1
  10. 2025Addressing Corner Cases in Autonomous Driving: A World Model-based Approach with Mixture of Experts and LLMscited by 1
  11. 2024C2INet: Realizing Incremental Trajectory Prediction with Prior-Aware Continual Causal Interventioncited by 0
  12. 2025Ensemble of Pre-Trained Models for Long-Tailed Trajectory Predictioncited by 0
  13. 2025AdaSports-Traj: Role- and Domain-Aware Adaptation for Multi-Agent Trajectory Modeling in Sportscited by 0
  14. 2025A Trajectory Generator for High-Density Traffic and Diverse Agent-Interaction Scenarioscited by 0
  15. 2026MetaDAT: Generalizable Trajectory Prediction via Meta Pre-training and Data-Adaptive Test-Time Updatingcited by 0
  16. 2026SAIL: Scene-aware Adaptive Iterative Learning for Long-Tail Trajectory Prediction in Autonomous Vehiclescited by 0
  17. 2026JACoP: Joint Alignment for Compliant Multi-Agent Predictioncited by 0
  18. 2026Driving, Fast or Slow? Neuro-Symbolic Guidance for Motion Prediction in Multi-Modal Ground Mobilitycited by 0
  19. 2026Schr"odinger's Cat: Probabilistic Representation and Prediction of Potential Scene Kinematicscited by 0