mlsanityData to 7 Oct 2026

SocialCircle: Learning the Angle-based Social Interaction Representation for Pedestrian Trajectory Prediction

arXiv 2310.05370 ↗First posted 9 Oct 2023cs.CVcited by 27

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Abstract (arXiv)

Analyzing and forecasting trajectories of agents like pedestrians and cars in complex scenes has become more and more significant in many intelligent systems and applications. The diversity and uncertainty in socially interactive behaviors among a rich variety of agents make this task more challenging than other deterministic computer vision tasks. Researchers have made a lot of efforts to quantify the effects of these interactions on future trajectories through different mathematical models and network structures, but this problem has not been well solved. Inspired by marine animals that localize the positions of their companions underwater through echoes, we build a new anglebased trainable social interaction representation, named SocialCircle, for continuously reflecting the context of social interactions at different angular orientations relative to the target agent. We validate the effect of the proposed SocialCircle by training it along with several newly released trajectory prediction models, and experiments show that the SocialCircle not only quantitatively improves the prediction performance, but also qualitatively helps better simulate social interactions when forecasting pedestrian trajectories in a way that is consistent with human intuitions.

Key facts. Cited by 27 papers in the map (data through 7 Oct 2026). Builds on 44 of its 71 references that are in the map. First posted on arXiv 9 Oct 2023.

Builds on

44 of 71 references.

References · 44

  1. 2017Attention Is All You Needcited by 59,932
  2. 2019nuScenes: A multimodal dataset for autonomous drivingcited by 4,485
  3. 2018Social GAN: Socially Acceptable Trajectories with Generative Adversarial Networkscited by 687
  4. 2021AgentFormer: Agent-Aware Transformers for Socio-Temporal Multi-Agent Forecastingcited by 327
  5. 2020Social-STGCNN: A Social Spatio-Temporal Graph Convolutional Neural Network for Human Trajectory Predictioncited by 324
  6. 2018SoPhie: An Attentive GAN for Predicting Paths Compliant to Social and Physical Constraintscited by 296
  7. 2020It Is Not the Journey but the Destination: Endpoint Conditioned Trajectory Predictioncited by 235
  8. 2018Convolutional Social Pooling for Vehicle Trajectory Predictioncited by 221
  9. 2020Spatio-Temporal Graph Transformer Networks for Pedestrian Trajectory Predictioncited by 218
  10. 2022Stochastic Trajectory Prediction via Motion Indeterminacy Diffusioncited by 184
  11. 2020From Goals, Waypoints & Paths To Long Term Human Trajectory Forecastingcited by 166
  12. 2021Scene Transformer: A unified architecture for predicting multiple agent trajectoriescited by 165
32 more
  1. 2023Trace and Pace: Controllable Pedestrian Animation via Guided Trajectory Diffusioncited by 137
  2. 2023Leapfrog Diffusion Model for Stochastic Trajectory Predictioncited by 129
  3. 2020Human Trajectory Forecasting in Crowds: A Deep Learning Perspectivecited by 128
  4. 2022GroupNet: Multiscale Hypergraph Neural Networks for Trajectory Prediction with Relational Reasoningcited by 128
  5. 2019Peeking into the Future: Predicting Future Person Activities and Locations in Videoscited by 112
  6. 2019SR-LSTM: State Refinement for LSTM towards Pedestrian Trajectory Predictioncited by 111
  7. 2021MSR-GCN: Multi-Scale Residual Graph Convolution Networks for Human Motion Predictioncited by 100
  8. 2021SGCN:Sparse Graph Convolution Network for Pedestrian Trajectory Predictioncited by 97
  9. 2023EqMotion: Equivariant Multi-agent Motion Prediction with Invariant Interaction Reasoningcited by 97
  10. 2022Remember Intentions: Retrospective-Memory-based Trajectory Predictioncited by 86
  11. 2019Social Ways: Learning Multi-Modal Distributions of Pedestrian Trajectories with GANscited by 78
  12. 2022Human Trajectory Prediction via Neural Social Physicscited by 66
  13. 2022SocialVAE: Human Trajectory Prediction using Timewise Latentscited by 65
  14. 2022ScePT: Scene-consistent, Policy-based Trajectory Predictions for Planningcited by 63
  15. 2021Trajectory Prediction with Latent Belief Energy-Based Modelcited by 60
  16. 2022MUSE-VAE: Multi-Scale VAE for Environment-Aware Long Term Trajectory Predictioncited by 59
  17. 2017Future Person Localization in First-Person Videoscited by 57
  18. 2020Collaborative Motion Prediction via Neural Motion Message Passingcited by 55
  19. 2021Interpretable Social Anchors for Human Trajectory Forecasting in Crowdscited by 44
  20. 2021View Vertically: A Hierarchical Network for Trajectory Prediction via Fourier Spectrumscited by 44
  21. 2021Spectral Temporal Graph Neural Network for Trajectory Predictioncited by 36
  22. 2020DAG-Net: Double Attentive Graph Neural Network for Trajectory Forecastingcited by 30
  23. 2023Fast Inference and Update of Probabilistic Density Estimation on Trajectory Predictioncited by 27
  24. 2019Social and Scene-Aware Trajectory Prediction in Crowded Spacescited by 19
  25. 2021MSN: Multi-Style Network for Trajectory Predictioncited by 19
  26. 2022CSCNet: Contextual Semantic Consistency Network for Trajectory Prediction in Crowded Spacescited by 18
  27. 2022Social Interpretable Tree for Pedestrian Trajectory Predictioncited by 16
  28. 2022Forecasting Human Trajectory from Scene Historycited by 14
  29. 2023Another Vertical View: A Hierarchical Network for Heterogeneous Trajectory Prediction via Spectrumscited by 14
  30. 2021AVGCN: Trajectory Prediction using Graph Convolutional Networks Guided by Human Attentioncited by 12
  31. 2022Pedestrian 3D Bounding Box Predictioncited by 11
  32. 2020Scene Gated Social Graph: Pedestrian Trajectory Prediction Based on Dynamic Social Graphs and Scene Constraintscited by 6

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2024: 7; 2025: 14; 2026: 6.

27 papers.

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  1. 2025MoFlow: One-Step Flow Matching for Human Trajectory Forecasting via Implicit Maximum Likelihood Estimation based Distillationcited by 31
  2. 2025Trajectory Mamba: Efficient Attention-Mamba Forecasting Model Based on Selective SSMcited by 17
  3. 2025Trajectory Prediction for Autonomous Driving: Progress, Limitations, and Future Directionscited by 14
  4. 2025Continuous Locomotive Crowd Behavior Generationcited by 7
  5. 2025SocialMOIF: Multi-Order Intention Fusion for Pedestrian Trajectory Predictioncited by 7
  6. 2024MGF: Mixed Gaussian Flow for Diverse Trajectory Predictioncited by 6
  7. 2024SocialCircle+: Learning the Angle-based Conditioned Interaction Representation for Pedestrian Trajectory Predictioncited by 6
  8. 2024Resonance: Learning to Predict Social-Aware Pedestrian Trajectories as Co-Vibrationscited by 5
  9. 2025ParkDiffusion: Heterogeneous Multi-Agent Multi-Modal Trajectory Prediction for Automated Parking using Diffusion Modelscited by 5
  10. 2024Who Walks With You Matters: Perceiving Social Interactions with Groups for Pedestrian Trajectory Predictioncited by 3
  11. 2026Modeling 3D Pedestrian-Vehicle Interactions for Vehicle-Conditioned Pose Forecastingcited by 3
  12. 2024Agile Decision-Making and Safety-Critical Motion Planning for Emergency Autonomous Vehiclescited by 2
15 more
  1. 2024Remember and Recall: Associative-Memory-based Trajectory Predictioncited by 2
  2. 2025Recent Advances in Multi-Agent Human Trajectory Prediction: A Comprehensive Reviewcited by 2
  3. 2024PMM-Net: Single-stage Multi-agent Trajectory Prediction with Patching-based Embedding and Explicit Modal Modulationcited by 1
  4. 2025Learning Velocity and Acceleration: Self-Supervised Motion Consistency for Pedestrian Trajectory Predictioncited by 1
  5. 2025Out-of-Sight Embodied Agents: Multimodal Tracking, Sensor Fusion, and Trajectory Forecastingcited by 1
  6. 2025Diffusion^2: Dual Diffusion Model with Uncertainty-Aware Adaptive Noise for Momentary Trajectory Predictioncited by 1
  7. 2025Addressing Corner Cases in Autonomous Driving: A World Model-based Approach with Mixture of Experts and LLMscited by 1
  8. 2025Reverberation: Learning the Latencies Before Forecasting Trajectoriescited by 1
  9. 2025Hazy Pedestrian Trajectory Prediction via Physical Priors and Graph-Mambacited by 0
  10. 2025Part-Aware Bottom-Up Group Reasoning for Fine-Grained Social Interaction Detectioncited by 0
  11. 2026SIGMAS: Second-Order Interaction-based Grouping for Overlapping Multi-Agent Swarmscited by 0
  12. 2026Encore: Conditioning Trajectory Forecasting via Biased Ego Rehearsalscited by 0
  13. 2026A Pedestrian-Vehicle Interaction Benchmark and Annotation Framework for Unstructured Scenes via Uncalibrated Camerascited by 0
  14. 2026Where Will They Go? Modelling Multimodal Pedestrian Manoeuvres from Ego-centric Videoscited by 0
  15. 2026GEAR: From Dynamic Encoding to Dynamic Activation in Social Trajectory Predictioncited by 0