# INTENT: Trajectory Prediction Framework with Intention-Guided Contrastive Clustering

arXiv: https://arxiv.org/abs/2503.04952 · HTML: https://mlsanity.com/paper/2503.04952/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Builds on 52 of its 84 references that are in the map.
- First posted on arXiv 6 Mar 2025.

## Builds on (most cited first, 30 of 52)

- [Adam: A Method for Stochastic Optimization](https://mlsanity.com/paper/1412.6980/) (2014)
- [PyTorch: An Imperative Style, High-Performance Deep Learning Library](https://mlsanity.com/paper/1912.01703/) (2019)
- [A Simple Framework for Contrastive Learning of Visual Representations](https://mlsanity.com/paper/2002.05709/) (2020)
- [Unsupervised Learning of Visual Features by Contrasting Cluster Assignments](https://mlsanity.com/paper/2006.09882/) (2020)
- [Optuna: A Next-generation Hyperparameter Optimization Framework](https://mlsanity.com/paper/1907.10902/) (2019)
- [Argoverse: 3D Tracking and Forecasting with Rich Maps](https://mlsanity.com/paper/1911.02620/) (2019)
- [Argoverse 2: Next Generation Datasets for Self-Driving Perception and Forecasting](https://mlsanity.com/paper/2301.00493/) (2023)
- [Self-supervised Learning: Generative or Contrastive](https://mlsanity.com/paper/2006.08218/) (2020)
- [Social GAN: Socially Acceptable Trajectories with Generative Adversarial Networks](https://mlsanity.com/paper/1803.10892/) (2018)
- [Prototypical Contrastive Learning of Unsupervised Representations](https://mlsanity.com/paper/2005.04966/) (2020)
- [Understanding the Behaviour of Contrastive Loss](https://mlsanity.com/paper/2012.09740/) (2020)
- [TNT: Target-driveN Trajectory Prediction](https://mlsanity.com/paper/2008.08294/) (2020)
- [Keystroke Dynamics as Part of Lifelogging](https://mlsanity.com/paper/2010.10144/) (2020)
- [Social-STGCNN: A Social Spatio-Temporal Graph Convolutional Neural Network for Human Trajectory Prediction](https://mlsanity.com/paper/2002.11927/) (2020)
- [DESIRE: Distant Future Prediction in Dynamic Scenes with Interacting Agents](https://mlsanity.com/paper/1704.04394/) (2017)
- [SoPhie: An Attentive GAN for Predicting Paths Compliant to Social and Physical Constraints](https://mlsanity.com/paper/1806.01482/) (2018)
- [Graph Self-Supervised Learning: A Survey](https://mlsanity.com/paper/2103.00111/) (2021)
- [Contrastive Clustering](https://mlsanity.com/paper/2009.09687/) (2020)
- [It Is Not the Journey but the Destination: Endpoint Conditioned Trajectory Prediction](https://mlsanity.com/paper/2004.02025/) (2020)
- [Human Motion Trajectory Prediction: A Survey](https://mlsanity.com/paper/1905.06113/) (2019)
- [Social-BiGAT: Multimodal Trajectory Forecasting using Bicycle-GAN and Graph Attention Networks](https://mlsanity.com/paper/1907.03395/) (2019)
- [Social Attention: Modeling Attention in Human Crowds](https://mlsanity.com/paper/1710.04689/) (2017)
- [Transformer Networks for Trajectory Forecasting](https://mlsanity.com/paper/2003.08111/) (2020)
- [CERT: Contrastive Self-supervised Learning for Language Understanding](https://mlsanity.com/paper/2005.12766/) (2020)
- [Multi-Agent Tensor Fusion for Contextual Trajectory Prediction](https://mlsanity.com/paper/1904.04776/) (2019)
- [Peeking into the Future: Predicting Future Person Activities and Locations in Videos](https://mlsanity.com/paper/1902.03748/) (2019)
- [LaneRCNN: Distributed Representations for Graph-Centric Motion Forecasting](https://mlsanity.com/paper/2101.06653/) (2021)
- [TrafficPredict: Trajectory Prediction for Heterogeneous Traffic-Agents](https://mlsanity.com/paper/1811.02146/) (2018)
- [SR-LSTM: State Refinement for LSTM towards Pedestrian Trajectory Prediction](https://mlsanity.com/paper/1903.02793/) (2019)
- [Self-Guided Contrastive Learning for BERT Sentence Representations](https://mlsanity.com/paper/2106.07345/) (2021)

## Built on by (most cited first, 2 of 2)

- [E3AD: An Emotion-Aware Vision-Language-Action Model for Human-Centric End-to-End Autonomous Driving](https://mlsanity.com/paper/2512.04733/) (2025)
- [Learning Probabilistic Responsibility Allocations for Multi-Agent Interactions](https://mlsanity.com/paper/2604.13128/) (2026)

## Abstract (arXiv)

Accurate trajectory prediction of road agents (e.g., pedestrians, vehicles) is an essential prerequisite for various intelligent systems applications, such as autonomous driving and robotic navigation. Recent research highlights the importance of environmental contexts (e.g., maps) and the "multi-modality" of trajectories, leading to increasingly complex model structures. However, real-world deployments require lightweight models that can quickly migrate and adapt to new environments. Additionally, the core motivations of road agents, referred to as their intentions, deserves further exploration. In this study, we advocate that understanding and reasoning road agents' intention plays a key role in trajectory prediction tasks, and the main challenge is that the concept of intention is fuzzy and abstract. To this end, we present INTENT, an efficient intention-guided trajectory prediction model that relies solely on information contained in the road agent's trajectory. Our model distinguishes itself from existing models in several key aspects: (i) We explicitly model road agents' intentions through contrastive clustering, accommodating the fuzziness and abstraction of human intention in their trajectories. (ii) The proposed INTENT is based solely on multi-layer perceptrons (MLPs), resulting in reduced training and inference time, making it very efficient and more suitable for real-world deployment. (iii) By leveraging estimated intentions and an innovative algorithm for transforming trajectory observations, we obtain more robust trajectory representations that lead to superior prediction accuracy. Extensive experiments on real-world trajectory datasets for pedestrians and autonomous vehicles demonstrate the effectiveness and efficiency of INTENT.