Trajectory Prediction

Trajectory Prediction is the problem of predicting the short-term (1-3 seconds) and long-term (3-5 seconds) spatial coordinates of various road-agents such as cars, buses, pedestrians, rickshaws, and animals, etc. These road-agents have different dynamic behaviors that may correspond to aggressive or conservative driving styles.

Source: Forecasting Trajectory and Behavior of Road-Agents Using Spectral Clustering in Graph-LSTMs

Papers

Recently Added Most Hyped Most Active Needs Verification Most Verified

Showing 476–500 of 1004 papers

Title	Date	Tasks	Status
Coordination and Trajectory Prediction for Vehicle Interactions via Bayesian Generative Modeling	May 2, 2019	DiversityPrediction	—Unverified
MOCK: an Algorithm for Learning Nonparametric Differential Equations via Multivariate Occupation Kernel Functions	Jun 16, 2023	Trajectory Prediction	—Unverified
Learning Interaction-Aware Trajectory Predictions for Decentralized Multi-Robot Motion Planning in Dynamic Environments	Feb 10, 2021	Collision AvoidanceModel Predictive Control	—Unverified
A Cooperation-Aware Lane Change Method for Autonomous Vehicles	Jan 26, 2022	Autonomous VehiclesModel Predictive Control	—Unverified
Cooperative Probabilistic Trajectory Forecasting under Occlusion	Dec 6, 2023	Pose EstimationTrajectory Forecasting	—Unverified
Learning Navigation by Visual Localization and Trajectory Prediction	Oct 7, 2019	NavigatePrediction	—Unverified
Learning Pedestrian Actions to Ensure Safe Autonomous Driving	May 22, 2023	Autonomous DrivingAutonomous Vehicles	—Unverified
Golfer: Trajectory Prediction with Masked Goal Conditioning MnM Network	Jul 2, 2022	motion predictionPrediction	—Unverified
A Structure-Aware Lane Graph Transformer Model for Vehicle Trajectory Prediction	May 30, 2024	Autonomous VehiclesTrajectory Prediction	—Unverified
LTN: Long-Term Network for Long-Term Motion Prediction	Oct 15, 2020	Autonomous Navigationmotion prediction	—Unverified
Learning Representation for Anomaly Detection of Vehicle Trajectories	Mar 9, 2023	Anomaly DetectionAutonomous Driving	—Unverified
MacFormer: Map-Agent Coupled Transformer for Real-time and Robust Trajectory Prediction	Aug 20, 2023	PredictionTrajectory Prediction	—Unverified
GoIRL: Graph-Oriented Inverse Reinforcement Learning for Multimodal Trajectory Prediction	Jun 26, 2025	Autonomous DrivingMotion Forecasting	—Unverified
EgoNav: Egocentric Scene-aware Human Trajectory Prediction	Mar 27, 2024	Collision Avoidancemotion prediction	—Unverified
Learning the Pedestrian-Vehicle Interaction for Pedestrian Trajectory Prediction	Feb 10, 2022	Pedestrian Trajectory PredictionTrajectory Prediction	—Unverified
Learning Through Retrospection: Improving Trajectory Prediction for Automated Driving with Error Feedback	Apr 18, 2025	Trajectory Prediction	—Unverified
Energy-Based Continuous Inverse Optimal Control	Apr 10, 2019	Autonomous Drivingcontinuous-control	—Unverified
GOHOME: Graph-Oriented Heatmap Output for future Motion Estimation	Sep 4, 2021	Motion EstimationMotion Forecasting	—Unverified
Learning Velocity and Acceleration: Self-Supervised Motion Consistency for Pedestrian Trajectory Prediction	Mar 31, 2025	Pedestrian Trajectory PredictionPosition	—Unverified
GoalNet: Goal Areas Oriented Pedestrian Trajectory Prediction	Feb 29, 2024	Autonomous DrivingDecision Making	—Unverified
Convolutional Neural Network for Trajectory Prediction	Sep 3, 2018	PredictionTrajectory Prediction	—Unverified
Less is More: Efficient Brain-Inspired Learning for Autonomous Driving Trajectory Prediction	Jul 9, 2024	Autonomous DrivingDecision Making	—Unverified
ASTRA: A Scene-aware TRAnsformer-based model for trajectory prediction	Jan 16, 2025	Trajectory ForecastingTrajectory Prediction	—Unverified
Leveraging Future Relationship Reasoning for Vehicle Trajectory Prediction	May 24, 2023	Motion ForecastingPrediction	—Unverified
Goal-driven Long-Term Trajectory Prediction	Nov 5, 2020	PredictionTrajectory Prediction	—Unverified

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All datasets nuScenes Stanford Drone ETH/UCY ETH JAAD PIE ActEV INTERACTION Dataset - Validation PAID TrajNet ApolloScape HEV-I

Benchmark Results

#	Model	Metric	Claimed	Verified	Status
1	CoverNet	MinADE_5	4.61	—	Unverified
2	xli4217	MinADE_5	4.46	—	Unverified
3	Physics Oracle	MinADE_5	3.7	—	Unverified
4	KeepCalm	MinADE_5	2.74	—	Unverified
5	CoverNet, Fixed, Epsilon 2	MinADE_5	2.62	—	Unverified
6	Semir	MinADE_5	2.38	—	Unverified
7	8536	MinADE_5	2.36	—	Unverified
8	teamcc	MinADE_5	2.28	—	Unverified
9	pq	MinADE_5	2.23	—	Unverified
10	VI tp	MinADE_5	2.08	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	Social LSTM	ADE (8/12) @K=5	31.19	—	Unverified
2	Social GAN	ADE-8/12 @K = 20	27.23	—	Unverified
3	DESIRE	ADE-8/12 @K = 20	19.25	—	Unverified
4	SoPhie	ADE (8/12) @K=5	16.27	—	Unverified
5	Sophie	ADE-8/12 @K = 20	16.27	—	Unverified
6	CGNS	ADE-8/12 @K = 20	15.6	—	Unverified
7	Multiverse	ADE-8/12 @K = 20	14.78	—	Unverified
8	EvolveGraph	ADE-8/12 @K = 20	13.9	—	Unverified
9	CF-VAE	ADE-8/12 @K = 20	12.6	—	Unverified
10	P2TIRL	ADE-8/12 @K = 20	12.58	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	Sophie	ADE-8/12	0.54	—	Unverified
2	CGNS	ADE-8/12	0.49	—	Unverified
3	Social-STGCNN	ADE-8/12	0.49	—	Unverified
4	Social BiGAT	ADE-8/12	0.48	—	Unverified
5	Next	ADE-8/12	0.46	—	Unverified
6	TPNSTA	ADE-8/12	0.37	—	Unverified
7	Social-Implicit	ADE-8/12	0.33	—	Unverified
8	MANTRA	ADE-8/12	0.32	—	Unverified
9	Transformer TF	ADE-8/12	0.31	—	Unverified
10	PECNet	ADE-8/12	0.29	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	ExpertTraj	Avg AMD/AMV 8/12	19.2	—	Unverified
2	Social-GAN	Avg AMD/AMV 8/12	1.42	—	Unverified
3	Social-STGCNN	Avg AMD/AMV 8/12	1.26	—	Unverified
4	Trajectron++	Avg AMD/AMV 8/12	1.01	—	Unverified
5	Social-Implicit	Avg AMD/AMV 8/12	0.9	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	Bayesian-LSTM	MSE(0.5)	159	—	Unverified
2	FOL-X	MSE(0.5)	147	—	Unverified
3	PIE_traj	MSE(0.5)	110	—	Unverified
4	BiTrap-D	MSE(0.5)	93	—	Unverified
5	SGNet	MSE(0.5)	82	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	Bayesian-LSTM	MSE(0.5)	159	—	Unverified
2	FOL-X	MSE(0.5)	147	—	Unverified
3	PIE_traj	MSE(0.5)	58	—	Unverified
4	Bitrap-D	MSE(0.5)	41	—	Unverified
5	SGNet	MSE(0.5)	34	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	Multiverse	ADE-8/12	18.51	—	Unverified
2	Next	ADE-8/12	17.99	—	Unverified
3	SimAug	ADE-8/12	17.96	—	Unverified
4	Pishgu	ADE-8/12	14.11	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	GOHOME	minFDE6	0.45	—	Unverified
2	DESIRE	minADE6	0.32	—	Unverified
3	TNT	minADE6	0.21	—	Unverified
4	ITRA	minADE6	0.17	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	DESIRE	minADE3	0.29	—	Unverified
2	MultiPath	minADE3	0.23	—	Unverified
3	TNT	minADE3	0.18	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	Social LSTM	FDE	1.17	—	Unverified
2	U-LSTM + Social Pooling	FDE	1.15	—	Unverified
3	Social-NCE + Social-LSTM	FDE	1.14	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	rule-based	FDE	5.99	—	Unverified
2	SpectralCows	ADE	0.01	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	FOL-X	ADE(0.5)	6.7	—	Unverified
2	SGNet	ADE(0.5)	6.28	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	TraPHic	RMSE	5.63	—	Unverified
2	Pishgu	ADE	0.88	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	Trafficpredict	ADE	8.59	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	HeteroGCN	MR (K=6)	0.12	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	HeteroGCN	MR (K=6)	0.18	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	Social Ways	ADE-8/12	0.39	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	Multiverse	ADE	168.9	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	Support Vector Machines	Accuracy	88	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	Skeleton-Graph	ADE	192	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	Social Ways	ADE-8/12	0.39	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	SpectralCows	ADE	0.01	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	Skeleton-Graph	ADE	280	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	Multiclass-SGCN (ours)	mADEK @4.8s	14.36	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	DAG-Net	ADE	9.18	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	DAG-Net	ADE	7.01	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	TraPHic	RMSE	0.78	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	TrajAirNet	ADE (in world coordinates)	0.73	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	Social-Implicit	Avg AMD/AMV 8/12	0.9	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	ST-MoE-BERT	Accuracy	28.7	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	ST-MoE-BERT	Accuracy	28.9	—	Unverified

#	Model	Metric	Claimed	Verified	Status
1	ST-MoE-BERT	Accuracy	26.5	—	Unverified