2021.md

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Trajectory prediction papers 2021

Li et al., "GRIN: Generative Relation and Intention Network for Multi-agent Trajectory Prediction", NeurIPS, 2021. paper

Datasets
• NBA
• Charges
Metrics
• minADE
• minFDE
• NLL
• MMD
Bibtex

@InProceedings{Li_2021_NeurIPS,
    author = "Li, Longyuan and Yao, Jian and Wenliang, Li and He, Tong and Xiao, Tianjun and Yan, Junchi and Wipf, David and Zhang, Zheng",
    booktitle = "NeurIPS",
    title = "{GRIN}: Generative Relation and Intention Network for Multi-agent Trajectory Prediction",
    year = "2021"
}

Tang et al., "Collaborative Uncertainty in Multi-Agent Trajectory Forecasting", NeurIPS, 2021. paper arxiv

Datasets
• nuScenes
• Argoverse
• Custom
Metrics
• ADE
• FDE
• ED
• KLD
• L1
Bibtex

@InProceedings{Tang_2021_NeurIPS,
    author = "Tang, Bohan and Zhong, Yiqi and Neumann, Ulrich and Wang, Gang and Chen, Siheng and Zhang, Ya",
    booktitle = "NeurIPS",
    title = "Collaborative Uncertainty in Multi-Agent Trajectory Forecasting",
    year = "2021"
}

Zhu et al., "HalentNet: Multimodal Trajectory Forecasting with Hallucinative Intents", ICLR, 2021. paper code

Datasets
• UCY
• ETH
• nuScenes
Metrics
• minADE
• minFDE
Bibtex

@InProceedings{Deyao_2021_ICLR,
    author = "Zhu, Deyao and Zahran, Mohamed and Li, Li Erran and Elhoseiny, Mohamed",
    booktitle = "ICLR",
    title = "{HalentNet}: Multimodal Trajectory Forecasting with Hallucinative Intents",
    year = "2021"
}

Walters et al., "Trajectory Prediction using Equivariant Continuous Convolution", ICLR, 2021. paper arxiv code

Datasets
• Argoverse
• Trajnet++
Metrics
• ADE
• FDE
• ED
Bibtex

@InProceedings{Walters_2021_ICLR,
    author = "Walters, Robin and Li, Jinxi and Yu, Rose",
    booktitle = "ICLR",
    title = "Trajectory Prediction using Equivariant Continuous Convolution",
    year = "2021"
}

Amirloo et al., "Self-Supervised Simultaneous Multi-Step Prediction of Road Dynamics and Cost Map", CVPR, 2021. paper arxiv

Datasets
• Argoverse
Metrics
• minADE
• TCR
• RV
Bibtex

@InProceedings{Amirloo_2021_CVPR,
    author = "Amirloo, Elmira and Rohani, Mohsen and Banijamali, Ershad and Luo, Jun and Poupart, Pascal",
    title = "Self-Supervised Simultaneous Multi-Step Prediction of Road Dynamics and Cost Map",
    booktitle = "CVPR",
    year = "2021"
}

Bhattacharyya et al., "Euro-PVI: Pedestrian Vehicle Interactions in Dense Urban Centers", CVPR, 2021. paper

Datasets
• nuScenes
• Euro-PVI
Metrics
• minADE
• minFDE
Bibtex

@InProceedings{Bhattacharyya_2021_CVPR,
    author = "Bhattacharyya, Apratim and Reino, Daniel Olmeda and Fritz, Mario and Schiele, Bernt",
    title = "{Euro-PVI}: Pedestrian Vehicle Interactions in Dense Urban Centers",
    booktitle = "CVPR",
    year = "2021"
}

Choi et al., "Shared Cross-Modal Trajectory Prediction for Autonomous Driving", CVPR, 2021. paper arxiv

Datasets
• KITTI
• H3D
Metrics
• minADE
• minFDE
Bibtex

@InProceedings{Choi_2021_CVPR,
    author = "Choi, Chiho and Choi, Joon Hee and Li, Jiachen and Malla, Srikanth",
    title = "Shared Cross-Modal Trajectory Prediction for Autonomous Driving",
    booktitle = "CVPR",
    year = "2021"
}

Kim et al., "LaPred: Lane-Aware Prediction of Multi-Modal Future Trajectories of Dynamic Agents", CVPR, 2021. paper arxiv

Datasets
• nuScenes
• Argoverse
Metrics
• minADE
• minFDE
Bibtex

@InProceedings{Kim_2021_CVPR,
    author = "Kim, ByeoungDo and Park, Seong Hyeon and Lee, Seokhwan and Khoshimjonov, Elbek and Kum, Dongsuk and Kim, Junsoo and Kim, Jeong Soo and Choi, Jun Won",
    title = "{LaPred}: Lane-Aware Prediction of Multi-Modal Future Trajectories of Dynamic Agents",
    booktitle = "CVPR",
    year = "2021"
}

Kothari et al., "Interpretable Social Anchors for Human Trajectory Forecasting in Crowds", CVPR, 2021. paper arxiv

Datasets
• Trajnet++
Metrics
• minADE
• minFDE
• ADE
• FDE
• TCR
Bibtex

@InProceedings{Kothari_2021_CVPR,
    author = "Kothari, Parth and Sifringer, Brian and Alahi, Alexandre",
    title = "Interpretable Social Anchors for Human Trajectory Forecasting in Crowds",
    booktitle = "CVPR",
    year = "2021"
}

Liu et al., "Multimodal Motion Prediction With Stacked Transformers", CVPR, 2021. paper arxiv code

Datasets
• Argoverse
Metrics
• minADE
• minFDE
• MR
Bibtex

@InProceedings{Liu_2021_CVPR,
    author = "Liu, Yicheng and Zhang, Jinghuai and Fang, Liangji and Jiang, Qinhong and Zhou, Bolei",
    title = "Multimodal Motion Prediction With Stacked Transformers",
    booktitle = "CVPR",
    year = "2021"
}

Narayanan et al., "Divide-and-Conquer for Lane-Aware Diverse Trajectory Prediction", CVPR, 2021. paper arxiv

Datasets
• nuScenes
• CPI
Metrics
• minADE
• minFDE
• MR
• ORR
• EMD
Bibtex

@InProceedings{Narayanan_2021_CVPR,
    author = "Narayanan, Sriram and Moslemi, Ramin and Pittaluga, Francesco and Liu, Buyu and Chandraker, Manmohan",
    title = "Divide-and-Conquer for Lane-Aware Diverse Trajectory Prediction",
    booktitle = "CVPR",
    year = "2021"
}

Neumann et al., "Pedestrian and Ego-Vehicle Trajectory Prediction From Monocular Camera", CVPR, 2021. paper code

Datasets
• JAAD
• PIE
Metrics
• MSE
Bibtex

@InProceedings{Neumann_2021_CVPR,
    author = "Neumann, Lukas and Vedaldi, Andrea",
    title = "Pedestrian and Ego-Vehicle Trajectory Prediction From Monocular Camera",
    booktitle = "CVPR",
    year = "2021"
}

Pang et al., "Trajectory Prediction With Latent Belief Energy-Based Model", CVPR, 2021. paper arxiv code

Datasets
• UCY
• ETH
Metrics
• minADE
• minFDE
Bibtex

@InProceedings{Pang_2021_CVPR,
    author = "Pang, Bo and Zhao, Tianyang and Xie, Xu and Wu, Ying Nian",
    title = "Trajectory Prediction With Latent Belief Energy-Based Model",
    booktitle = "CVPR",
    year = "2021"
}

Phillips et al., "Deep Multi-Task Learning for Joint Localization, Perception, and Prediction", CVPR, 2021. paper arxiv

Datasets
• Custom
Metrics
• ED
• TCR
Bibtex

@InProceedings{Phillips_2021_CVPR,
    author = "Phillips, John and Martinez, Julieta and Barsan, Ioan Andrei and Casas, Sergio and Sadat, Abbas and Urtasun, Raquel",
    title = "Deep Multi-Task Learning for Joint Localization, Perception, and Prediction",
    booktitle = "CVPR",
    year = "2021"
}

Shafiee et al., "Introvert: Human Trajectory Prediction via Conditional 3D Attention", CVPR, 2021. paper

Datasets
• UCY
• ETH
Metrics
• minADE
• minFDE
Bibtex

@InProceedings{Shafiee_2021_CVPR,
    author = "Shafiee, Nasim and Padir, Taskin and Elhamifar, Ehsan",
    title = "Introvert: Human Trajectory Prediction via Conditional 3D Attention",
    booktitle = "CVPR",
    year = "2021"
}

Shi et al., "SGCN: Sparse Graph Convolution Network for Pedestrian Trajectory Prediction", CVPR, 2021. paper arxiv code

Datasets
• UCY
• ETH
Metrics
• minADE
• minFDE
Bibtex

@InProceedings{Shi_2021_CVPR,
    author = "Shi, Liushuai and Wang, Le and Long, Chengjiang and Zhou, Sanping and Zhou, Mo and Niu, Zhenxing and Hua, Gang",
    title = "{SGCN}: Sparse Graph Convolution Network for Pedestrian Trajectory Prediction",
    booktitle = "CVPR",
    year = "2021"
}

Ye et al., "TPCN: Temporal Point Cloud Networks for Motion Forecasting", CVPR, 2021. paper arxiv

Datasets
• Argoverse
Metrics
• minADE
• minFDE
• MR
Bibtex

@InProceedings{Ye_2021_CVPR,
    author = "Ye, Maosheng and Cao, Tongyi and Chen, Qifeng",
    title = "{TPCN}: Temporal Point Cloud Networks for Motion Forecasting",
    booktitle = "CVPR",
    year = "2021"
}

Adeli et al., "TRiPOD: Human Trajectory and Pose Dynamics Forecasting in the Wild", ICCV, 2021. paper arxiv

Datasets
• 3DPW
• PoseTrack
Metrics
• IoU
• VAM
• VIM
Bibtex

@InProceedings{Adeli_2021_ICCV,
    author = "Adeli, Vida and Ehsanpour, Mahsa and Reid, Ian and Niebles, Juan Carlos and Savarese, Silvio and Adeli, Ehsan and Rezatofighi, Hamid",
    title = "{TRiPOD}: Human Trajectory and Pose Dynamics Forecasting in the Wild",
    booktitle = "ICCV",
    year = "2021"
}

Banijamali et al., "Prediction by Anticipation: An Action-Conditional Prediction Method Based on Interaction Learning", ICCV, 2021. paper arxiv

Datasets
• Argoverse
• NGSIM
Metrics
• MSE
• TN
• TP
Bibtex

@InProceedings{Banijamali_2021_ICCV,
    author = "Banijamali, Ershad and Rohani, Mohsen and Amirloo, Elmira and Luo, Jun and Poupart, Pascal",
    title = "Prediction by Anticipation: An Action-Conditional Prediction Method Based on Interaction Learning",
    booktitle = "ICCV",
    year = "2021"
}

Chen et al., "Personalized Trajectory Prediction via Distribution Discrimination", ICCV, 2021. paper arxiv code

Datasets
• UCY
• ETH
Metrics
• minADE
• minFDE
Bibtex

@InProceedings{Chen_2021_ICCV,
    author = "Chen, Guangyi and Li, Junlong and Zhou, Nuoxing and Ren, Liangliang and Lu, Jiwen",
    title = "Personalized Trajectory Prediction via Distribution Discrimination",
    booktitle = "ICCV",
    year = "2021"
}

Cui et al., "LookOut: Diverse Multi-Future Prediction and Planning for Self-Driving", ICCV, 2021. paper arxiv

Datasets
• Custom
Metrics
• CD
• Progress
Bibtex

@InProceedings{Cui_2021_ICCV,
    author = "Cui, Alexander and Casas, Sergio and Sadat, Abbas and Liao, Renjie and Urtasun, Raquel",
    title = "{LookOut}: Diverse Multi-Future Prediction and Planning for Self-Driving",
    booktitle = "ICCV",
    year = "2021"
}

Dendorfer et al., "MG-GAN: A Multi-Generator Model Preventing Out-of-Distribution Samples in Pedestrian Trajectory Prediction", ICCV, 2021. paper

Datasets
• UCY
• ETH
Metrics
• minADE
• minFDE
Bibtex

@InProceedings{Dendorfer_2021_ICCV,
    author = "Dendorfer, Patrick and Elflein, Sven and Leal-Taixe, Laura",
    title = "{MG-GAN}: A Multi-Generator Model Preventing Out-of-Distribution Samples in Pedestrian Trajectory Prediction",
    booktitle = "ICCV",
    year = "2021"
}

Ettinger et al., "Large Scale Interactive Motion Forecasting for Autonomous Driving: The Waymo Open Motion Dataset", ICCV, 2021. paper arxiv

Datasets
• WOMD
Metrics
• minADE
• mAP
Bibtex

@InProceedings{Ettinger_2021_ICCV,
    author = "Ettinger, Scott and Cheng, Shuyang and Caine, Benjamin and Liu, Chenxi and Zhao, Hang and Pradhan, Sabeek and Chai, Yuning and Sapp, Ben and Qi, Charles R. and Zhou, Yin and Yang, Zoey and Chouard, Aurelien and Sun, Pei and Ngiam, Jiquan and Vasudevan, Vijay and McCauley, Alexander and Shlens, Jonathon and Anguelov, Dragomir",
    title = "Large Scale Interactive Motion Forecasting for Autonomous Driving: The Waymo Open Motion Dataset",
    booktitle = "ICCV",
    year = "2021"
}

Girase et al., "LOKI: Long Term and Key Intentions for Trajectory Prediction", ICCV, 2021. paper arxiv

Datasets
• LOKI
Metrics
• minADE
• minFDE
Bibtex

@InProceedings{Girase_2021_ICCV,
    author = "Girase, Harshayu and Gang, Haiming and Malla, Srikanth and Li, Jiachen and Kanehara, Akira and Mangalam, Karttikeya and Choi, Chiho",
    title = "{LOKI}: Long Term and Key Intentions for Trajectory Prediction",
    booktitle = "ICCV",
    year = "2021"
}

Gu et al., "DenseTNT: End-to-End Trajectory Prediction From Dense Goal Sets", ICCV, 2021. paper arxiv

Datasets
• Argoverse
• WOMD
Metrics
• minADE
• minFDE
• MR
Bibtex

@InProceedings{Gu_2021_ICCV,
    author = "Gu, Junru and Sun, Chen and Zhao, Hang",
    title = "{DenseTNT}: End-to-End Trajectory Prediction From Dense Goal Sets",
    booktitle = "ICCV",
    year = "2021"
}

Li et al., "Spatial-Temporal Consistency Network for Low-Latency Trajectory Forecasting", ICCV, 2021. paper

Datasets
• UCY
• ETH
Metrics
• minADE
• minFDE
Bibtex

@InProceedings{Li_2021_ICCV,
    author = "Li, Shijie and Zhou, Yanying and Yi, Jinhui and Gall, Juergen",
    title = "Spatial-Temporal Consistency Network for Low-Latency Trajectory Forecasting",
    booktitle = "ICCV",
    year = "2021"
}

Ma et al., "Likelihood-Based Diverse Sampling for Trajectory Forecasting", ICCV, 2021. paper arxiv code

Datasets
• nuScenes
Metrics
• minADE
• minFDE
• minFSD
• minASD
Bibtex

@InProceedings{Ma_2021_ICCV,
    author = "Ma, Yecheng Jason and Inala, Jeevana Priya and Jayaraman, Dinesh and Bastani, Osbert",
    title = "Likelihood-Based Diverse Sampling for Trajectory Forecasting",
    booktitle = "ICCV",
    year = "2021"
}

Makansi et al., "On Exposing the Challenging Long Tail in Future Prediction of Traffic Actors", ICCV, 2021. paper arxiv code

Datasets
• UCY
• ETH
• nuScenes
• WOMD
Metrics
• minADE
• minFDE
Bibtex

@InProceedings{Makansi_2021_ICCV,
    author = "Makansi, Osama and Cicek, Ozgun and Marrakchi, Yassine and Brox, Thomas",
    title = "On Exposing the Challenging Long Tail in Future Prediction of Traffic Actors",
    booktitle = "ICCV",
    year = "2021"
}

Mangalam et al., "From Goals, Waypoints & Paths to Long Term Human Trajectory Forecasting", ICCV, 2021. paper arxiv code

Datasets
• UCY
• ETH
Metrics
• minADE
• minFDE
Bibtex

@InProceedings{Mangalam_2021_ICCV,
    author = "Mangalam, Karttikeya and An, Yang and Girase, Harshayu and Malik, Jitendra",
    title = "From Goals, Waypoints \& Paths to Long Term Human Trajectory Forecasting",
    booktitle = "ICCV",
    year = "2021"
}

Rasouli et al., "Bifold and Semantic Reasoning for Pedestrian Behavior Prediction", ICCV, 2021. paper arxiv

Datasets
• JAAD
• PIE
Metrics
• ADE
• FDE
• FRB
• ARB
Bibtex

@InProceedings{Rasouli_2021_ICCV,
    author = "Rasouli, Amir and Rohani, Mohsen and Luo, Jun",
    title = "Bifold and Semantic Reasoning for Pedestrian Behavior Prediction",
    booktitle = "ICCV",
    year = "2021"
}

Ren et al., "Safety-Aware Motion Prediction With Unseen Vehicles for Autonomous Driving", ICCV, 2021. paper arxiv

Datasets
• nuScenes
• Lyft
Metrics
• MR
• MSE
• UR
Bibtex

@InProceedings{Ren_2021_ICCV,
    author = "Ren, Xuanchi and Yang, Tao and Li, Li Erran and Alahi, Alexandre and Chen, Qifeng",
    title = "Safety-Aware Motion Prediction With Unseen Vehicles for Autonomous Driving",
    booktitle = "ICCV",
    year = "2021"
}

Sun et al., "Three Steps to Multimodal Trajectory Prediction: Modality Clustering, Classification and Synthesis", ICCV, 2021. paper arxiv

Datasets
• UCY
• ETH
Metrics
• minADE
• minFDE
Bibtex

@InProceedings{Sun_2021_ICCV,
    author = "Sun, Jianhua and Li, Yuxuan and Fang, Hao-Shu and Lu, Cewu",
    title = "Three Steps to Multimodal Trajectory Prediction: Modality Clustering, Classification and Synthesis",
    booktitle = "ICCV",
    year = "2021"
}

Yuan et al., "AgentFormer: Agent-Aware Transformers for Socio-Temporal Multi-Agent Forecasting", ICCV, 2021. paper arxiv code

Datasets
• UCY
• ETH
• nuScenes
Metrics
• minADE
• minFDE
Bibtex

@InProceedings{Yuan_2021_ICCV,
    author = "Yuan, Ye and Weng, Xinshuo and Ou, Yanglan and Kitani, Kris M.",
    title = "{AgentFormer}: Agent-Aware Transformers for Socio-Temporal Multi-Agent Forecasting",
    booktitle = "ICCV",
    year = "2021"
}

Zhao et al., "Where Are You Heading? Dynamic Trajectory Prediction With Expert Goal Examples", ICCV, 2021. paper code

Datasets
• UCY
• ETH
• SDD
Metrics
• minADE
• minFDE
Bibtex

@InProceedings{Zhao_2021_ICCV,
    author = "Zhao, He and Wildes, Richard P.",
    title = "Where Are You Heading? Dynamic Trajectory Prediction With Expert Goal Examples",
    booktitle = "ICCV",
    year = "2021"
}

Zheng et al., "Unlimited Neighborhood Interaction for Heterogeneous Trajectory Prediction", ICCV, 2021. paper arxiv

Datasets
• nuScenes
• Argoverse
• ApolloScape
Metrics
• ADE
• FDE
Bibtex

@InProceedings{Zheng_2021_ICCV,
    author = "Zheng, Fang and Wang, Le and Zhou, Sanping and Tang, Wei and Niu, Zhenxing and Zheng, Nanning and Hua, Gang",
    title = "Unlimited Neighborhood Interaction for Heterogeneous Trajectory Prediction",
    booktitle = "ICCV",
    year = "2021"
}

Chen et al., "Human Trajectory Prediction via Counterfactual Analysis", ICCV, 2021. paper arxiv code

Datasets
• UCY
• ETH
Metrics
• minADE
• minFDE
Bibtex

@InProceedings{Chen_2021_ICCV_2,
    author = "Chen, Guangyi and Li, Junlong and Lu, Jiwen and Zhou, Jie",
    title = "Human Trajectory Prediction via Counterfactual Analysis",
    booktitle = "ICCV",
    year = "2021"
}

Li et al., "RAIN: Reinforced Hybrid Attention Inference Network for Motion Forecasting", ICCV, 2021. paper arxiv

Datasets
• nuScenes
Metrics
• minADE
• minFDE
• MR
Bibtex

@InProceedings{Li_2021_ICCV_2,
    author = "Li, Jiachen and Yang, Fan and Ma, Hengbo and Malla, Srikanth and Tomizuka, Masayoshi and Choi, Chiho",
    title = "{RAIN}: Reinforced Hybrid Attention Inference Network for Motion Forecasting",
    booktitle = "ICCV",
    year = "2021"
}

Albrecht et al., "Interpretable Goal-based Prediction and Planning for Autonomous Driving", ICRA, 2021. paper arxiv code

Datasets
• Custom
Metrics
• Probability
Bibtex

@InProceedings{Albrecht_2021_ICRA,
    author = "Albrecht, Stefano V. and Brewitt, Cillian and Wilhelm, John and Gyevnar, Balint and Eiras, Francisco and Dobre, Mihai and Ramamoorthy, Subramanian",
    booktitle = "ICRA",
    title = "Interpretable Goal-based Prediction and Planning for Autonomous Driving",
    year = "2021"
}

Bergamini et al., "SimNet: Learning Reactive Self-driving Simulations from Real-world Observations", ICRA, 2021. paper arxiv

Datasets
• Lyft
Metrics
• ADE
Bibtex

@InProceedings{Bergamini_2021_ICRA,
    author = "Bergamini, Luca and Ye, Yawei and Scheel, Oliver and Chen, Long and Hu, Chih and Del Pero, Luca and Osiński, Błażej and Grimmett, Hugo and Ondruska, Peter",
    booktitle = "ICRA",
    title = "{SimNet}: Learning Reactive Self-driving Simulations from Real-world Observations",
    year = "2021"
}

Berkemeyer et al., "Feasible and Adaptive Multimodal Trajectory Prediction with Semantic Maneuver Fusion", ICRA, 2021. paper

Datasets
• nuScenes
Metrics
• minADE
• minFDE
• MR
• ORR
Bibtex

@InProceedings{Berkemeyer_2021_ICRA,
    author = "Berkemeyer, Hendrik and Franceschini, Riccardo and Tran, Tuan and Che, Lin and Pipa, Gordon",
    booktitle = "ICRA",
    title = "Feasible and Adaptive Multimodal Trajectory Prediction with Semantic Maneuver Fusion",
    year = "2021"
}

Cao et al., "Spectral Temporal Graph Neural Network for Trajectory Prediction", ICRA, 2021. paper arxiv

Datasets
• nuScenes
• SD
Metrics
• minADE
• minFDE
Bibtex

@InProceedings{Cao_2021_ICRA,
    author = "Cao, Defu and Li, Jiachen and Ma, Hengbo and Tomizuka, Masayoshi",
    booktitle = "ICRA",
    title = "Spectral Temporal Graph Neural Network for Trajectory Prediction",
    year = "2021"
}

Cheng et al., "Exploring Dynamic Context for Multi-path Trajectory Prediction", ICRA, 2021. paper arxiv code

Datasets
• Trajnet++
Metrics
• minADE
• minFDE
• ADE
• FDE
Bibtex

@InProceedings{Cheng_2021_ICRA,
    author = "Cheng, Hao and Liao, Wentong and Tang, Xuejiao and Yang, Michael Ying and Sester, Monika and Rosenhahn, Bodo",
    booktitle = "ICRA",
    title = "Exploring Dynamic Context for Multi-path Trajectory Prediction",
    year = "2021"
}

Cui et al., "Ellipse Loss for Scene-Compliant Motion Prediction", ICRA, 2021. paper arxiv

Datasets
• Custom
Metrics
• BoxORFP
• CtrORFP
Bibtex

@InProceedings{Cui_2021_ICRA,
    author = "Cui, Henggang and Shajari, Hoda and Yalamanchi, Sai and Djuric, Nemanja",
    booktitle = "ICRA",
    title = "Ellipse Loss for Scene-Compliant Motion Prediction",
    year = "2021"
}

Dulian et al., "Exploiting Latent Representation of Sparse Semantic Layers for Improved Short-term Motion Prediction with Capsule Networks", ICRA, 2021. paper arxiv

Datasets
• nuScenes
Metrics
• ADE
• FDE
Bibtex

@InProceedings{Dulian_2021_ICRA,
    author = "Dulian, Albert and Murray, John C.",
    booktitle = "ICRA",
    title = "Exploiting Latent Representation of Sparse Semantic Layers for Improved Short-term Motion Prediction with Capsule Networks",
    year = "2021"
}

Kordia et al., "Movement Recognition and Prediction using DMPs", ICRA, 2021. paper

Datasets
• Custom
Metrics
• MAE
Bibtex

@InProceedings{Kordia_2021_ICRA,
    author = "Kordia, Ali H. and Melo, Francisco S.",
    booktitle = "ICRA",
    title = "Movement Recognition and Prediction using {DMPs}",
    year = "2021"
}

Liu et al., "AVGCN: Trajectory Prediction using Graph Convolutional Networks Guided by Human Attention", ICRA, 2021. paper arxiv

Datasets
• UCY
• ETH
Metrics
• minADE
• minFDE
Bibtex

@InProceedings{Liu_2021_ICRA,
    author = "Liu, Congcong and Chen, Yuying and Liu, Ming and Shi, Bertram E.",
    booktitle = "ICRA",
    title = "{AVGCN}: Trajectory Prediction using Graph Convolutional Networks Guided by Human Attention",
    year = "2021"
}

Majcherczyk et al., "Flow-FL: Data-Driven Federated Learning for Spatio-Temporal Predictions in Multi-Robot Systems", ICRA, 2021. paper arxiv

Datasets
• Custom
Metrics
• ADE
• FDE
Bibtex

@InProceedings{Majcherczyk_2021_ICRA,
    author = "Majcherczyk, Nathalie and Srishankar, Nishan and Pinciroli, Carlo",
    booktitle = "ICRA",
    title = "{Flow-FL}: Data-Driven Federated Learning for Spatio-Temporal Predictions in Multi-Robot Systems",
    year = "2021"
}

Malla et al., "Social-STAGE: Spatio-Temporal Multi-Modal Future Trajectory Forecast", ICRA, 2021. paper arxiv

Datasets
• UCY
• ETH
Metrics
• minADE
• minFDE
• ADE
• FDE
Bibtex

@InProceedings{Malla_2021_ICRA,
    author = "Malla, Srikanth and Choi, Chiho and Dariush, Behzad",
    booktitle = "ICRA",
    title = "{Social-STAGE}: Spatio-Temporal Multi-Modal Future Trajectory Forecast",
    year = "2021"
}

Shridhar et al., "Beelines: Motion Prediction Metrics for Self-Driving Safety and Comfort", ICRA, 2021. paper arxiv

Datasets
• Custom
Metrics
• L2
• Comfort
• Safety
Bibtex

@InProceedings{Shridhar_2021_ICRA,
    author = "Shridhar, Skanda and Ma, Yuhang and Stentz, Tara and Shen, Zhengdi and Haynes, Galen Clark and Traft, Neil",
    booktitle = "ICRA",
    title = "Beelines: Motion Prediction Metrics for Self-Driving Safety and Comfort",
    year = "2021"
}

Tolstaya et al., "Identifying Driver Interactions via Conditional Behavior Prediction", ICRA, 2021. paper arxiv

Datasets
• Argoverse
• Custom
Metrics
• minADE
• wADE
Bibtex

@InProceedings{Tolstaya_2021_ICRA,
    author = "Tolstaya, Ekaterina and Mahjourian, Reza and Downey, Carlton and Vadarajan, Balakrishnan and Sapp, Benjamin and Anguelov, Dragomir",
    booktitle = "ICRA",
    title = "Identifying Driver Interactions via Conditional Behavior Prediction",
    year = "2021"
}

Wang et al., "Machine Learning-based Human-Following System: Following the Predicted Position of a Walking Human", ICRA, 2021. paper

Datasets
• Custom
Metrics
• RMSE
Bibtex

@InProceedings{Wang_2021_ICRA,
    author = "Wang, Ansheng and Makino, Yasutoshi and Shinoda, Hiroyuki",
    booktitle = "ICRA",
    title = "Machine Learning-based Human-Following System: Following the Predicted Position of a Walking Human",
    year = "2021"
}

Xie et al., "Congestion-aware Multi-agent Trajectory Prediction for Collision Avoidance", ICRA, 2021. paper arxiv code

Datasets
• NGSIM
• Custom
Metrics
• RMSE
• TCR
Bibtex

@InProceedings{Xie_2021_ICRA,
    author = "Xie, Xu and Zhang, Chi and Zhu, Yixin and Wu, Ying Nian and Zhu, Song-Chun",
    booktitle = "ICRA",
    title = "Congestion-aware Multi-agent Trajectory Prediction for Collision Avoidance",
    year = "2021"
}

Zhu et al., "Star Topology based Interaction for Robust Trajectory Forecasting in Dynamic Scene", ICRA, 2021. paper

Datasets
• UCY
• ETH
• Argoverse
Metrics
• minADE
• minFDE
• ADE
• FDE
Bibtex

@InProceedings{Zhu_2021_ICRA,
    author = "Zhu, Yanliang and Ren, Dongchun and Qian, Deheng and Fan, Mingyu and Li, Xin and Xia, Huaxia",
    booktitle = "ICRA",
    title = "Star Topology based Interaction for Robust Trajectory Forecasting in Dynamic Scene",
    year = "2021"
}

Anderson et al., "A Kinematic Model for Trajectory Prediction in General Highway Scenarios", RAL, 2021. paper arxiv code

Datasets
• NGSIM
• highD
Metrics
• ADE
• RMSE
• QDE
Bibtex

@Article{Anderson_2021_RAL,
    author = "Anderson, Cyrus and Vasudevan, Ram and Johnson-Roberson, Matthew",
    journal = "RAL",
    title = "A Kinematic Model for Trajectory Prediction in General Highway Scenarios",
    year = "2021",
    volume = "6",
    number = "4",
    pages = "6757-6764"
}

Le et al., "LUCIDGames: Online Unscented Inverse Dynamic Games for Adaptive Trajectory Prediction and Planning", RAL, 2021. paper arxiv code

Datasets
• Custom
Metrics
• L2
Bibtex

@Article{Cleac_2021_RAL,
    author = "Le Cleac’h, Simon and Schwager, Mac and Manchester, Zachary",
    journal = "RAL",
    title = "{LUCIDGames}: Online Unscented Inverse Dynamic Games for Adaptive Trajectory Prediction and Planning",
    year = "2021",
    volume = "6",
    number = "3",
    pages = "5485-5492"
}

Li et al., "A Scalable Approach to Predict Multi-Agent Motion for Human-Robot Collaboration", RAL, 2021. paper arxiv

Datasets
• nuScenes
Metrics
• minADE
• minFDE
• MaxD
Bibtex

@Article{Li_2021_RAL,
    author = "Li, Xiao and Rosman, Guy and Gilitschenski, Igor and Vasile, Cristian-Ioan and DeCastro, Jonathan A. and Karaman, Sertac and Rus, Daniela",
    journal = "RAL",
    title = "A Scalable Approach to Predict Multi-Agent Motion for Human-Robot Collaboration",
    year = "2021",
    volume = "6",
    number = "2",
    pages = "3459-3466"
}

Meyer et al., "LaserFlow: Efficient and Probabilistic Object Detection and Motion Forecasting", RAL, 2021. paper arxiv

Datasets
• nuScenes
• Custom
Metrics
• L2
Bibtex

@Article{Meyer_2021_RAL,
    author = "Meyer, Gregory P. and Charland, Jake and Pandey, Shreyash and Laddha, Ankit and Gautam, Shivam and Vallespi-Gonzalez, Carlos and Wellington, Carl K.",
    journal = "RAL",
    title = "{LaserFlow}: Efficient and Probabilistic Object Detection and Motion Forecasting",
    year = "2021",
    volume = "6",
    number = "2",
    pages = "526-533"
}

Wang et al., "Multiple Contextual Cues Integrated Trajectory Prediction for Autonomous Driving", RAL, 2021. paper

Datasets
• Argoverse
• ApolloScape
Metrics
• wADE
• wFDE
Bibtex

@Article{Wang_2021_RAL,
    author = "Wang, Li and Wu, Tao and Fu, Hao and Xiao, Liang and Wang, Zhiyu and Dai, Bin",
    journal = "RAL",
    title = "Multiple Contextual Cues Integrated Trajectory Prediction for Autonomous Driving",
    year = "2021",
    volume = "6",
    number = "4",
    pages = "6844-6851"
}

Xu et al., "Tra2Tra: Trajectory-to-Trajectory Prediction With a Global Social Spatial-Temporal Attentive Neural Network", RAL, 2021. paper

Datasets
• UCY
• ETH
• NGSIM
• Charges
• Custom
Metrics
• ADE
• FDE
• RMSE
Bibtex

@Article{Xu_2021_RAL,
    author = "Xu, Yi and Ren, Dongchun and Li, Mingxia and Chen, Yuehai and Fan, Mingyu and Xia, Huaxia",
    journal = "RAL",
    title = "Tra2Tra: Trajectory-to-Trajectory Prediction With a Global Social Spatial-Temporal Attentive Neural Network",
    year = "2021",
    volume = "6",
    number = "2",
    pages = "1574-1581"
}

Yao et al., "BiTraP: Bi-Directional Pedestrian Trajectory Prediction With Multi-Modal Goal Estimation", RAL, 2021. paper arxiv code

Datasets
• UCY
• ETH
• JAAD
• PIE
Metrics
• minADE
• minFDE
• ADE
• FDE
Bibtex

@Article{Yao_2021_RAL,
    author = "Yao, Yu and Atkins, Ella and Johnson-Roberson, Matthew and Vasudevan, Ram and Du, Xiaoxiao",
    journal = "RAL",
    title = "{BiTraP}: Bi-Directional Pedestrian Trajectory Prediction With Multi-Modal Goal Estimation",
    year = "2021",
    volume = "6",
    number = "2",
    pages = "3459-3466"
}

Zhang et al., "Foot Placement Prediction for Assistive Walking by Fusing Sequential 3D Gaze and Environmental Context", RAL, 2021. paper

Datasets
• Custom
Metrics
• ED
Bibtex

@Article{Zhang_2021_RAL,
    author = "Zhang, Kuangen and Liu, Haiyuan and Fan, Zixuan and Chen, Xinxing and Leng, Yuquan and de Silva, Clarence W. and Fu, Chenglong",
    journal = "RAL",
    title = "Foot Placement Prediction for Assistive Walking by Fusing Sequential {3D} Gaze and Environmental Context",
    year = "2021",
    volume = "6",
    number = "2",
    pages = "2509-2516"
}

Zhao et al., "Noticing Motion Patterns: A Temporal CNN With a Novel Convolution Operator for Human Trajectory Prediction", RAL, 2021. paper arxiv

Datasets
• UCY
• ETH
Metrics
• ADE
• FDE
Bibtex

@Article{Zhao_2021_RAL,
    author = "Zhao, Dapeng and Oh, Jean",
    journal = "RAL",
    title = "Noticing Motion Patterns: A Temporal {CNN} With a Novel Convolution Operator for Human Trajectory Prediction",
    volume = "6",
    number = "2",
    pages = "628--634",
    year = "2021"
}

Zhu et al., "Learning Interaction-Aware Trajectory Predictions for Decentralized Multi-Robot Motion Planning in Dynamic Environments", RAL, 2021. paper arxiv

Datasets
• Custom
Metrics
• ED
Bibtex

@Article{Zhu_2021_RAL,
    author = "Zhu, Hai and Claramunt, Francisco Martinez and Brito, Bruno and Alonso-Mora, Javier",
    journal = "RAL",
    title = "Learning Interaction-Aware Trajectory Predictions for Decentralized Multi-Robot Motion Planning in Dynamic Environments",
    year = "2021",
    volume = "6",
    number = "2",
    pages = "2256-2263"
}

Li et al., "Open-set Intersection Intention Prediction for Autonomous Driving", ICRA, 2021. paper arxiv

Datasets
• Custom
Metrics
• Recall
Bibtex

@InProceedings{Li_2021_ICRA_3,
    author = "Li, Fei and Li, Xiangxu and Luo, Jun and Fan, Shiwei and Zhang, Hongbo",
    booktitle = "ICRA",
    title = "Open-set Intersection Intention Prediction for Autonomous Driving",
    year = "2021"
}

Li et al., "Attentional-GCNN: Adaptive Pedestrian Trajectory Prediction towards Generic Autonomous Vehicle Use Cases", ICRA, 2021. paper arxiv

Datasets
• UCY
• ETH
• USyd
Metrics
• minADE
• minFDE
• ADE
• FDE
Bibtex

@InProceedings{Li_2021_ICRA_2,
    author = "Li, Kunming and Eiffert, Stuart and Shan, Mao and Gomez-Donoso, Francisco and Worrall, Stewart and Nebot, Eduardo",
    booktitle = "ICRA",
    title = "{Attentional-GCNN}: Adaptive Pedestrian Trajectory Prediction towards Generic Autonomous Vehicle Use Cases",
    year = "2021"
}

Agarwal et al., "Predicting the Future Motion of Divers for Enhanced Underwater Human-Robot Collaboration", IROS, 2021. paper code

Datasets
• VDD-C
Metrics
• IoU
• BNACE
• INACE
Bibtex

@InProceedings{Agarwal_2021_IROS,
    author = "Agarwal, Tanmay and Fulton, Michael and Sattar, Junaed",
    booktitle = "IROS",
    title = "Predicting the Future Motion of Divers for Enhanced Underwater Human-Robot Collaboration",
    year = "2021"
}

Ankit et al., "Multi-Variable State Prediction: HMM Based Approach for Real-Time Trajectory Prediction", IROS, 2021. paper

Datasets
• Custom
Metrics
• ED
• RT
Bibtex

@InProceedings{Ankit_2021_IROS,
    author = "Ankit and Narayanan, Karthik and Ghosh, Dibyendu and Honkote, Vinayak and Nandakumar, Ganeshram",
    booktitle = "IROS",
    title = "Multi-Variable State Prediction: {HMM} Based Approach for Real-Time Trajectory Prediction",
    year = "2021"
}

Bhujel et al., "Self-critical Learning of Influencing Factors for Trajectory Prediction using Gated Graph Convolutional Network", IROS, 2021. paper

Datasets
• UCY
• ETH
Metrics
• minADE
• minFDE
Bibtex

@InProceedings{Bhujel_2021_IROS,
    author = "Bhujel, Niraj and Yun, Yau Wei and Wang, Han and Dwivedi, Vijay Prakash",
    booktitle = "IROS",
    title = "Self-critical Learning of Influencing Factors for Trajectory Prediction using Gated Graph Convolutional Network",
    year = "2021"
}

Chen et al., "Simultaneous Prediction of Pedestrian Trajectory and Actions based on Context Information Iterative Reasoning", IROS, 2021. paper

Datasets
• UCY
• ETH
• VIRAT/ActEV
Metrics
• ADE
• FDE
Bibtex

@InProceedings{Chen_2021_IROS,
    author = "Chen, Bo and Li, Decai and He, Yuqing",
    booktitle = "IROS",
    title = "Simultaneous Prediction of Pedestrian Trajectory and Actions based on Context Information Iterative Reasoning",
    year = "2021"
}

Ji et al., "Model-Based Trajectory Prediction and Hitting Velocity Control for a New Table Tennis Robot", IROS, 2021. paper

Datasets
• Custom
Metrics
• ED
Bibtex

@InProceedings{Ji_2021_IROS,
    author = "Ji, Yunfeng and Hu, Xiaoyi and Chen, Yutao and Mao, Yue and Wang, Gang and Li, Qingdu and Zhang, Jianwei",
    booktitle = "IROS",
    title = "Model-Based Trajectory Prediction and Hitting Velocity Control for a New Table Tennis Robot",
    year = "2021"
}

Kumar et al., "Interaction-Based Trajectory Prediction Over a Hybrid Traffic Graph", IROS, 2021. paper arxiv

Datasets
• nuScenes
• Custom
Metrics
• ADE
• FDE
• TCR
Bibtex

@InProceedings{Kumar_2021_IROS,
    author = "Kumar, Sumit and Gu, Yiming and Hoang, Jerrick and Haynes, Galen Clark and Marchetti-Bowick, Micol",
    booktitle = "IROS",
    title = "Interaction-Based Trajectory Prediction Over a Hybrid Traffic Graph",
    year = "2021"
}

Laddha et al., "RV-FuseNet: Range View Based Fusion of Time-Series LiDAR Data for Joint 3D Object Detection and Motion Forecasting", IROS, 2021. paper arxiv

Datasets
• nuScenes
• Custom
Metrics
• ED
Bibtex

@InProceedings{Laddha_2021_IROS,
    author = "Laddha, Ankit and Gautam, Shivam and Meyer, Gregory P. and Vallespi-Gonzalez, Carlos and Wellington, Carl K.",
    booktitle = "IROS",
    title = "{RV-FuseNet}: Range View Based Fusion of Time-Series {LiDAR} Data for Joint {3D} Object Detection and Motion Forecasting",
    year = "2021"
}

Luo et al., "Safety-Oriented Pedestrian Occupancy Forecasting", IROS, 2021. paper arxiv

Datasets
• Custom
Metrics
• NLL
• RMSE
Bibtex

@InProceedings{Luo_2021_IROS,
    author = "Luo, Katie and Casas, Sergio and Liao, Renjie and Yan, Xinchen and Xiong, Yuwen and Zeng, Wenyuan and Urtasun, Raquel",
    booktitle = "IROS",
    title = "Safety-Oriented Pedestrian Occupancy Forecasting",
    year = "2021"
}

Mersch et al., "Maneuver-based Trajectory Prediction for Self-driving Cars Using Spatio-temporal Convolutional Networks", IROS, 2021. paper arxiv

Datasets
• NGSIM
• highD
Metrics
• RMSE
Bibtex

@InProceedings{Mersch_2021_IROS,
    author = "Mersch, Benedikt and Höllen, Thomas and Zhao, Kun and Stachniss, Cyrill and Roscher, Ribana",
    booktitle = "IROS",
    title = "Maneuver-based Trajectory Prediction for Self-driving Cars Using Spatio-temporal Convolutional Networks",
    year = "2021"
}

Postnikov et al., "CovarianceNet: Conditional Generative Model for Correct Covariance Prediction in Human Motion Prediction", IROS, 2021. paper arxiv

Datasets
• ETH
Metrics
• ADE
• FDE
• PPEI
Bibtex

@InProceedings{Postnikov_2021_IROS,
    author = "Postnikov, Aleksey and Gamayunov, Aleksander and Ferrer, Gonzalo",
    booktitle = "IROS",
    title = "{CovarianceNet}: Conditional Generative Model for Correct Covariance Prediction in Human Motion Prediction",
    year = "2021"
}

Qiu et al., "Indoor Future Person Localization from an Egocentric Wearable Camera", IROS, 2021. paper arxiv

Datasets
• EILT
Metrics
• ADE
• FIoU
• MIoU
Bibtex

@InProceedings{Qiu_2021_IROS,
    author = "Qiu, Jianing and Lo, Frank P-W and Gu, Xiao and Sun, Yingnan and Jiang, Shuo and Lo, Benny",
    booktitle = "IROS",
    title = "Indoor Future Person Localization from an Egocentric Wearable Camera",
    year = "2021"
}

Rella et al., "Decoder Fusion RNN: Context and Interaction Aware Decoders for Trajectory Prediction", IROS, 2021. paper arxiv

Datasets
• Argoverse
Metrics
• minADE
• minFDE
• MR
• DAC
Bibtex

@InProceedings{Rella_2021_IROS,
    author = "Rella, Edoardo Mello and Zaech, Jan-Nico and Liniger, Alexander and Van Gool, Luc",
    booktitle = "IROS",
    title = "Decoder {Fusion RNN}: Context and Interaction Aware Decoders for Trajectory Prediction",
    year = "2021"
}

Schöller et al., "FloMo: Tractable Motion Prediction with Normalizing Flows", IROS, 2021. paper arxiv

Datasets
• UCY
• ETH
Metrics
• minADE
• minFDE
Bibtex

@InProceedings{Scholler_2021_IROS,
    author = "Schöller, Christoph and Knoll, Alois",
    booktitle = "IROS",
    title = "{FloMo}: Tractable Motion Prediction with Normalizing Flows",
    year = "2021"
}

Su et al., "CR-LSTM: Collision-prior Guided Social Refinement for Pedestrian Trajectory Prediction", IROS, 2021. paper

Datasets
• UCY
• ETH
Metrics
• ADE
• FDE
Bibtex

@InProceedings{Su_2021_IROS,
    author = "Su, Zhaoxin and Zhang, Sanyuan and Hua, Wei",
    booktitle = "IROS",
    title = "{CR-LSTM}: Collision-prior Guided Social Refinement for Pedestrian Trajectory Prediction",
    year = "2021"
}

Sui et al., "Joint Intention and Trajectory Prediction Based on Transformer", IROS, 2021. paper

Datasets
• JAAD
• PIE
Metrics
• ADE
• FDE
Bibtex

@InProceedings{Sui_2021_IROS,
    author = "Sui, Ze and Zhou, Yue and Zhao, Xu and Chen, Ao and Ni, Yiyang",
    booktitle = "IROS",
    title = "Joint Intention and Trajectory Prediction Based on Transformer",
    year = "2021"
}

Yu et al., "Neural Motion Prediction for In-flight Uneven Object Catching", IROS, 2021. paper arxiv

Datasets
• Custom
Metrics
• ED
Bibtex

@InProceedings{Yu_2021_IROS,
    author = "Yu, Hongxiang and Guo, Dashun and Yin, Huan and Chen, Anzhe and Xu, Kechun and Chen, Zexi and Wang, Minhang and Tan, Qimeng and Wang, Yue and Xiong, Rong",
    booktitle = "IROS",
    title = "Neural Motion Prediction for In-flight Uneven Object Catching",
    year = "2021"
}

Zeng et al., "LaneRCNN: Distributed Representations for Graph-Centric Motion Forecasting", IROS, 2021. paper arxiv

Datasets
• Argoverse
Metrics
• minADE
• minFDE
• MR
Bibtex

@InProceedings{Zeng_2021_IROS,
    author = "Zeng, Wenyuan and Liang, Ming and Liao, Renjie and Urtasun, Raquel",
    booktitle = "IROS",
    title = "{LaneRCNN}: Distributed Representations for Graph-Centric Motion Forecasting",
    year = "2021"
}

Zhi et al., "Probabilistic Trajectory Prediction with Structural Constraints", IROS, 2021. paper arxiv

Datasets
• THOR
• Lankershim Boulevard
• Custom
Metrics
• ADE
• FDE
• AL
Bibtex

@InProceedings{Zhi_2021_IROS,
    author = "Zhi, Weiming and Ott, Lionel and Ramos, Fabio",
    booktitle = "IROS",
    title = "Probabilistic Trajectory Prediction with Structural Constraints",
    year = "2021"
}

Su et al., "Temporally-Continuous Probabilistic Prediction using Polynomial Trajectory Parameterization", IROS, 2021. paper arxiv

Datasets
• nuScenes
Metrics
• ED
• MAnE
Bibtex

@InProceedings{Su_2021_IROS_2,
    author = "Su, Zhaoen and Wang, Chao and Cui, Henggang and Djuric, Nemanja and Vallespi-Gonzalez, Carlos and Bradley, David",
    booktitle = "IROS",
    title = "Temporally-Continuous Probabilistic Prediction using Polynomial Trajectory Parameterization",
    year = "2021"
}

Yu et al., "Towards Robust Human Trajectory Prediction in Raw Videos", IROS, 2021. paper arxiv code

Datasets
• SDD
Metrics
• ADE
• MOTA
Bibtex

@InProceedings{Yu_2021_IROS_2,
    author = "Yu, Rui and Zhou, Zihan",
    booktitle = "IROS",
    title = "Towards Robust Human Trajectory Prediction in Raw Videos",
    year = "2021"
}

Ma et al., "Continual Multi-Agent Interaction Behavior Prediction With Conditional Generative Memory", RAL, 2021. paper

Datasets
• INTERACTION
• inD
• rounD
Metrics
• minADE
• minFDE
• FGT
• AER
Bibtex

@ARTICLE{Ma_Continual_2021_RAL,
    author = "Ma, Hengbo and Sun, Yaofeng and Li, Jiachen and Tomizuka, Masayoshi and Choi, Chiho",
    journal = "RAL",
    title = "Continual Multi-Agent Interaction Behavior Prediction With Conditional Generative Memory",
    year = "2021",
    volume = "6",
    number = "4",
    pages = "8410-8417"
}

Ivanovic et al., "Multimodal Deep Generative Models for Trajectory Prediction: A Conditional Variational Autoencoder Approach", RAL, 2021. paper arxiv

Datasets
• UCY
• ETH
Metrics
• minADE
• minFDE
• NLL
Bibtex

@ARTICLE{Ivanovic_Multimodal_2021_RAL,
    author = "Ivanovic, Boris and Leung, Karen and Schmerling, Edward and Pavone, Marco",
    journal = "RAL",
    title = "Multimodal Deep Generative Models for Trajectory Prediction: A Conditional Variational Autoencoder Approach",
    year = "2021",
    volume = "6",
    number = "2",
    pages = "295-302"
}

Huang et al., "Long-Term Pedestrian Trajectory Prediction Using Mutable Intention Filter and Warp LSTM", RAL, 2021. paper arxiv code

Datasets
• EIFP
Metrics
• ADE
• FDE
• NLL
• maxD
Bibtex

@ARTICLE{Huang_Long_2021_RAL,
    author = "Huang, Zhe and Hasan, Aamir and Shin, Kazuki and Li, Ruohua and Driggs-Campbell, Katherine",
    journal = "RAL",
    title = "Long-Term Pedestrian Trajectory Prediction Using Mutable Intention Filter and Warp LSTM",
    year = "2021",
    volume = "6",
    number = "2",
    pages = "542-549"
}

Davchev et al., "Learning Structured Representations of Spatial and Interactive Dynamics for Trajectory Prediction in Crowded Scenes", RAL, 2021. paper arxiv

Datasets
• UCY
• ETH
Metrics
• ADE
• FDE
Bibtex

@ARTICLE{Davchev_Learning_2021_RAL,
    author = "Davchev, Todor and Burke, Michael and Ramamoorthy, Subramanian",
    journal = "RAL",
    title = "Learning Structured Representations of Spatial and Interactive Dynamics for Trajectory Prediction in Crowded Scenes",
    year = "2021",
    volume = "6",
    number = "2",
    pages = "707-714"
}

Habibi et al., "Human Trajectory Prediction Using Similarity-Based Multi-Model Fusion", RAL, 2021. paper

Datasets
• UCY
• ETH
Metrics
• minADE
• minFDE
Bibtex

@ARTICLE{Habibi_Human_2021_RAL,
    author = "Habibi, Golnaz and How, Jonathan P.",
    journal = "RAL",
    title = "Human Trajectory Prediction Using Similarity-Based Multi-Model Fusion",
    year = "2021",
    volume = "6",
    number = "2",
    pages = "715-722"
}

Li et al., "Vehicle Trajectory Prediction Using Generative Adversarial Network With Temporal Logic Syntax Tree Features", RAL, 2021. paper

Datasets
• nuScenes
Metrics
• ADE
• FDE
• maxD
Bibtex

@ARTICLE{Li_Vehicle_2021_RAL,
    author = "Li, Xiao and Rosman, Guy and Gilitschenski, Igor and Vasile, Cristian-Ioan and DeCastro, Jonathan A. and Karaman, Sertac and Rus, Daniela",
    journal = "RAL",
    title = "Vehicle Trajectory Prediction Using Generative Adversarial Network With Temporal Logic Syntax Tree Features",
    year = "2021",
    volume = "6",
    number = "2",
    pages = "3459-3466"
}

Minoura et al., "Crowd Density Forecasting by Modeling Patch-Based Dynamics", RAL, 2021. paper arxiv

Datasets
• UCY
• FDST
Metrics
• KLD
Bibtex

@ARTICLE{Minoura_Crowd_2021_RAL,
    author = "Minoura, Hiroaki and Yonetani, Ryo and Nishimura, Mai and Ushiku, Yoshitaka",
    journal = "RAL",
    title = "Crowd Density Forecasting by Modeling Patch-Based Dynamics",
    year = "2021",
    volume = "6",
    number = "2",
    pages = "287-294"
}

Weng et al., "PTP: Parallelized Tracking and Prediction With Graph Neural Networks and Diversity Sampling", RAL, 2021. paper arxiv

Datasets
• nuScenes
• KITTI
Metrics
• ADE
• FDE
• FSD
• ASD
Bibtex

@ARTICLE{Weng_PTP_2021_RAL,
    author = "Weng, Xinshuo and Yuan, Ye and Kitani, Kris",
    journal = "RAL",
    title = "PTP: Parallelized Tracking and Prediction With Graph Neural Networks and Diversity Sampling",
    year = "2021",
    volume = "6",
    number = "3",
    pages = "4640-4647"
}

Greer et al., "Trajectory Prediction in Autonomous Driving With a Lane Heading Auxiliary Loss", RAL, 2021. paper arxiv

Datasets
• nuScenes
Metrics
• minADE
• minFDE
• MR
• ORR
Bibtex

@ARTICLE{Greer_Trajectory_2021_RAL,
    author = "Greer, Ross and Deo, Nachiket and Trivedi, Mohan",
    journal = "RAL",
    title = "Trajectory Prediction in Autonomous Driving With a Lane Heading Auxiliary Loss",
    year = "2021",
    volume = "6",
    number = "3",
    pages = "4907-4914"
}

Deo et al., "Multimodal Trajectory Prediction Conditioned on Lane-Graph Traversals", CoRL, 2021. paper arxiv

Datasets
• nuScenes
Metrics
• minADE
• MR
• ORR
Bibtex

@InProceedings{Deo_2021_CoRL,
    author = "Deo, Nachiket and Wolff, Eric and Beijbom, Oscar",
    title = "Multimodal Trajectory Prediction Conditioned on Lane-Graph Traversals",
    booktitle = "CoRL",
    year = "2021"
}

Jia et al., "Multi-Agent Trajectory Prediction by Combining Egocentric and Allocentric Views", CoRL, 2021. paper

Datasets
• INTERACTION
• Trajnet++
Metrics
• ADE
• FDE
Bibtex

@InProceedings{Jia_2021_CoRL,
    author = "Jia, Xiaosong and Sun, Liting and Zhao, Hang and Tomizuka, Masayoshi and Zhan, Wei",
    title = "Multi-Agent Trajectory Prediction by Combining Egocentric and Allocentric Views",
    booktitle = "CoRL",
    year = "2021"
}

Song et al., "Learning to Predict Vehicle Trajectories with Model-based Planning", CoRL, 2021. paper arxiv

Datasets
• Argoverse
Metrics
• minADE
• minFDE
• MR
Bibtex

@InProceedings{Song_2021_CoRL,
    author = "Song, Haoran and Luan, Di and Ding, Wenchao and Wang, Michael Y and Chen, Qifeng",
    title = "Learning to Predict Vehicle Trajectories with Model-based Planning",
    booktitle = "CoRL",
    year = "2021"
}

Wang et al., "Group-based Motion Prediction for Navigation in Crowded Environments", CoRL, 2021. paper arxiv

Datasets
• UCY
• ETH
Metrics
• FIoU
• MIoU
Bibtex

@InProceedings{Wang_2021_CoRL,
    author = "Wang, Allan and Mavrogiannis, Christoforos and Steinfeld, Aaron",
    title = "Group-based Motion Prediction for Navigation in Crowded Environments",
    booktitle = "CoRL",
    year = "2021"
}

Zhu et al., "Motion Forecasting with Unlikelihood Training in Continuous Space", CoRL, 2021. paper code

Datasets
• nuScenes
• Argoverse
Metrics
• minADE
• minFDE
• ADE
• FDE
• ORR
Bibtex

@InProceedings{Zhu_2021_CoRL,
    author = "Zhu, Deyao and Zahran, Mohamed and Li, Li Erran and Elhoseiny, Mohamed",
    title = "Motion Forecasting with Unlikelihood Training in Continuous Space",
    booktitle = "CoRL",
    year = "2021"
}

Sun et al., "On Complementing End-to-end Human Behavior Predictors with Planning", RSS, 2021. paper arxiv

Datasets
• INTERACTION
Metrics
• ADE
Bibtex

@InProceedings{Sun_2021_RSS,
    AUTHOR = "Sun, Liting and Jia, Xiaogang and Dragan, Anca",
    TITLE = "On Complementing End-to-end Human Behavior Predictors with Planning",
    BOOKTITLE = "RSS",
    YEAR = "2021"
}

Hauri et al., "Multi-Modal Trajectory Prediction of NBA Players", WACV, 2021. paper arxiv

Datasets
• Basketball
Metrics
• ADE
• FDE
Bibtex

@InProceedings{Hauri_2021_WACV,
    author = "Hauri, Sandro and Djuric, Nemanja and Radosavljevic, Vladan and Vucetic, Slobodan",
    title = "Multi-Modal Trajectory Prediction of {NBA} Players",
    booktitle = "WACV",
    year = "2021"
}

Kawasaki et al., "Multimodal Trajectory Predictions for Autonomous Driving Without a Detailed Prior Map", WACV, 2021. paper

Datasets
• nuScenes
• Custom
Metrics
• minADE
• minFDE
Bibtex

@InProceedings{Kawasaki_2021_WACV,
    author = "Kawasaki, Atsushi and Seki, Akihito",
    title = "Multimodal Trajectory Predictions for Autonomous Driving Without a Detailed Prior Map",
    booktitle = "WACV",
    year = "2021"
}

Tran et al., "Goal-Driven Long-Term Trajectory Prediction", WACV, 2021. paper arxiv

Datasets
• UCY
• ETH
Metrics
• ADE
• FDE
Bibtex

@InProceedings{Tran_2021_WACV,
    author = "Tran, Hung and Le, Vuong and Tran, Truyen",
    title = "Goal-Driven Long-Term Trajectory Prediction",
    booktitle = "WACV",
    year = "2021"
}

Wang et al., "GraphTCN: Spatio-Temporal Interaction Modeling for Human Trajectory Prediction", WACV, 2021. paper arxiv

Datasets
• UCY
• ETH
Metrics
• minADE
• minFDE
Bibtex

@InProceedings{Wang_2021_WACV,
    author = "Wang, Chengxin and Cai, Shaofeng and Tan, Gary",
    title = "{GraphTCN}: Spatio-Temporal Interaction Modeling for Human Trajectory Prediction",
    booktitle = "WACV",
    year = "2021"
}

Weng et al., "Inverting the Pose Forecasting Pipeline with SPF2: Sequential Pointcloud Forecasting for Sequential Pose Forecasting", CoRL, 2021. paper arxiv code

Datasets
• nuScenes
• KITTI
Metrics
• ADE
• FDE
Bibtex

@InProceedings{Weng_2021_CORL,
    author = "Weng, Xinshuo and Wang, Jianren and Levine, Sergey and Kitani, Kris and Rhinehart, Nick",
    title = "Inverting the Pose Forecasting Pipeline with {SPF2}: Sequential Pointcloud Forecasting for Sequential Pose Forecasting",
    booktitle = "CoRL",
    year = "2021"
}