mlsanityData to 7 Oct 2026

Diffusion-Based Environment-Aware Trajectory Prediction

arXiv 2403.11643 ↗First posted 18 Mar 2024cs.CV cs.LG cs.ROcited by 14

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Abstract (arXiv)

The ability to predict the future trajectories of traffic participants is crucial for the safe and efficient operation of autonomous vehicles. In this paper, a diffusion-based generative model for multi-agent trajectory prediction is proposed. The model is capable of capturing the complex interactions between traffic participants and the environment, accurately learning the multimodal nature of the data. The effectiveness of the approach is assessed on large-scale datasets of real-world traffic scenarios, showing that our model outperforms several well-established methods in terms of prediction accuracy. By the incorporation of differential motion constraints on the model output, we illustrate that our model is capable of generating a diverse set of realistic future trajectories. Through the use of an interaction-aware guidance signal, we further demonstrate that the model can be adapted to predict the behavior of less cooperative agents, emphasizing its practical applicability under uncertain traffic conditions.

Key facts. Cited by 14 papers in the map (data through 7 Oct 2026). Builds on 61 of its 88 references that are in the map. First posted on arXiv 18 Mar 2024.

Builds on

61 of 88 references.

References · 61

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50 most cited of 61 All 61 (JSON)

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2024: 5; 2025: 6; 2026: 3.

14 papers.

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  1. 2024A Survey on Diffusion Models for Time Series and Spatio-Temporal Datacited by 66
  2. 2025Generalized Trajectory Scoring for End-to-end Multimodal Planningcited by 63
  3. 2025Hydra-NeXt: Robust Closed-Loop Driving with Open-Loop Trainingcited by 39
  4. 2025ParkDiffusion: Heterogeneous Multi-Agent Multi-Modal Trajectory Prediction for Automated Parking using Diffusion Modelscited by 5
  5. 2024FollowGen: A Scaled Noise Conditional Diffusion Model for Car-Following Trajectory Predictioncited by 3
  6. 2024Toward Unified Practices in Trajectory Prediction Research on Bird's-Eye-View Datasetscited by 2
  7. 2024Crossfusor: A Cross-Attention Transformer Enhanced Conditional Diffusion Model for Car-Following Trajectory Predictioncited by 2
  8. 2025STRAP: Spatial-Temporal Risk-Attentive Vehicle Trajectory Prediction for Autonomous Drivingcited by 1
  9. 2024RoboGolf: Mastering Real-World Minigolf with a Reflective Multi-Modality Vision-Language Modelcited by 0
  10. 2025Robust Planning for Autonomous Driving via Mixed Adversarial Diffusion Predictionscited by 0
  11. 2025Pattern-Guided Diffusion Modelscited by 0
  12. 2026Chatting about Conditional Trajectory Predictioncited by 0
2 more
  1. 2026From Cues to Horizons: Dynamic Risk Horizon Profiling for Trajectory Predictioncited by 0
  2. 2026Unveiling Transferability in Trajectory Prediction via Latent Scene Embeddingscited by 0

Similar, not cited

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  1. 2024Controllable Diverse Sampling for Diffusion Based Motion Behavior Forecasting
  2. 2024Intention-aware Denoising Diffusion Model for Trajectory Prediction
  3. 2023A Diffusion-Model of Joint Interactive Navigation
  4. 2025CoPlanner: An Interactive Motion Planner with Contingency-Aware Diffusion for Autonomous Driving
  5. 2026Uncertainty-Aware Diffusion Model for Multimodal Highway Trajectory Prediction via DDIM Sampling
  6. 2025EP-Diffuser: An Efficient Diffusion Model for Traffic Scene Generation and Prediction via Polynomial Representations
  7. 2021Scene Transformer: A unified architecture for predicting multiple agent trajectories
  8. 2024Versatile Behavior Diffusion for Generalized Traffic Agent Simulation