Multi-Agent Trajectory Prediction

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6 papers in the last four weeks, with none the four weeks before. 0.1% of all new papers.

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Context-aware Attention-based Gaussian Mixture Models for Vehicular Trajectory Prediction
Oct 6, 2026Arash Raftari, Babak Ebrahimi Soorchaei, Yaser P. FallahMultimodal Trajectory Prediction Vehicle Trajectory Prediction
Department of Electrical and Computer Engineering, University of Central Florida, Orlando, Florida, USA · Department of Computer Science, University of Central Florida, Orlando, Florida, USA
Socialality Anchors: Towards Group-bounded Trajectory Prediction
Sep 29, 2026Ziqian Zou, Conghao Wong, Qinmu Peng +1Pedestrian Trajectory Prediction Multi-Agent Trajectory Prediction
Huazhong University of Science and Technology, Wuhan, 430074, Hubei, China.
TRACER: Adaptive Multi-Robot Social Navigation via Joint Human-Response Prediction and Interaction-Aware Replanning
Sep 16, 2026Lan Hu, Minghui Liwang, Wenbo Zhu +4Multi-Robot Motion Planning Multi-Robot Systems
Guohao School, Tongji University, Shanghai, China · Shanghai Research Institute for Intelligent Autonomous Systems, the State Key Laboratory of Autonomous Intelligent Unmanned Systems, Department of Control Science and Engineering, Tongji University, Shanghai, China
Kernel-Based Metrics Learning for Uncertain Opponent Vehicle Trajectory Prediction in Autonomous Racing
Sep 15, 2026Hojin Lee, Youngim Nam, Sanghun Lee +1Multi-Agent Trajectory Prediction Autonomous Racing
Department of Mechanical Engineering, Ulsan National Institute of Science and Technology, Ulsan, 44919, Republic of Korea
From Learned-Mode AV-Traffic Pairing to Planner Decisions: A Marginal-Preserving Study on Argoverse 2
Sep 14, 2026Jingyu WangMulti-Agent Trajectory Prediction Autonomous Driving Planning
Independent Researcher.
MC-DeTra: Motion-Consistent Joint Object Detection and Socially-Aware Trajectory Forecasting in Bird's-Eye-View Images
Sep 11, 2026Vladislav Diuzhev, Dmitry YudinMulti-Agent Trajectory Prediction Autonomous Driving
Moscow Institute of Physics and Technology, Moscow, Russia · Artificial Intelligence Research Institute, Moscow, Russia
PV-WM: A Heterogeneous Micro-Macro World Model for Articulated Pedestrian-Vehicle Co-Rollout
Sep 7, 2026Haozhuang Chi, Jingsong Liang, Ziying Song +4World Model Learning Multi-Agent Trajectory Prediction
Nanyang Technological University, Singapore · Beijing Institute of Technology, Beijing, China
A Unified Framework for Trajectory Prediction with Explicit Planning and Reaction Decomposition
Aug 6, 2026Jiaheng Chen, Jiaxing Li, Tinghe Zhang +1Pedestrian Trajectory Prediction Multi-Agent Trajectory Prediction
Software College, Northeastern University Shenyang, China
Pivot-Centric Trajectory Prediction: Bridging Long Horizons via Dynamical Guidance
Aug 4, 2026Xiucong Zhao, Jindong Tian, Hao MiaoMulti-Agent Trajectory Prediction Autonomous Driving
1Xi’an Jiaotong University · 2East China Normal University · 3Hong Kong Polytechnic University
Long-term Traffic Scene Prediction via Polynomial Representations in Autonomous Driving
Aug 4, 2026Yue YaoMulti-Agent Trajectory Prediction Autonomous Driving Scenario Generation
Fachbereich Mathematik und Informatik der Freien Universität Berlin
SIPTraj: Map-Free End-to-End Trajectory Prediction via Physics-Guided Scene Interaction
Aug 1, 2026Feifei Liu, Zejun Wei, Haozhe Wang +6Multi-Agent Trajectory Prediction Autonomous Driving
School of Data Science and Engineering, Xingzhi College, South China Normal University, Shanwei, 516600, China · Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong, China · University of Macau, Macau, China +2
Unified Prediction and Planning via Conflict-Aware Disjoint Parameter Training
Jul 22, 2026Taewon Seo, Seonae Jeon, Giwon Lee +2Multi-Agent Trajectory Prediction Multi-Task Learning
DGIST, Republic of Korea · KAIST, Republic of Korea
Agent-Centric Animal Pose Forecasting
Jul 21, 2026Eyrun Eyjolfsdottir, Kristin BransonMulti-Agent Trajectory Prediction Animal Behavior Analysis
HHMI Janelia Research Campus Ashburn, VA 20147
SAGE: A Socially-Aware Generative Engine for Heterogeneous Multi-Agent Navigation
Jul 18, 2026Lan Hu, Minghui Liwang, Wenbo Zhu +5Multi-Robot Motion Planning Multi-Agent Trajectory Prediction
Guohao School, Tongji University, Shanghai, China · Shanghai Research Institute for Intelligent Autonomous Systems, the State Key Laboratory of Autonomous Intelligent Unmanned Systems, Department of Control Science and Engineering, Tongji University, Shanghai, China · Department of Electrical and Computer Engineering, Western University, Ontario, Canada +2
PRISA: Proactive Infrastructure LiDAR Framework for Intersection Safety Assessment
Jul 17, 2026Tam Bang, Hussam Abubakr, Emiliano de la Garza Villarreal +6Intelligent Transportation Systems Autonomous Driving Safety Evaluation
Center for Urban Informatics and Progress, University of Tennessee at Chattanooga, USA
TSCA-Net: Temporal-Spatial Clique Attention for Interpretable Multimodal Pedestrian Trajectory Prediction
Jul 11, 2026Md Mustafizur Rahman, Guangchao Yang, A F M Abdun Noor +3Pedestrian Behavior Modeling Pedestrian Trajectory Prediction
College of Computer Science, Chongqing University, Chongqing, China · Department of Software Engineering, Daffodil International University, Dhaka, Bangladesh
IMR: Iterative Mode-World Weighted Regression for Multi-Agent Trajectory Prediction
Jul 6, 2026Honglin Wang, Shiyao Pan, Yun-Fu LiuMulti-Agent Trajectory Prediction Multimodal Trajectory Prediction
EACON Fujian, China
SWIFT: A Small-World Interaction Framework for Flow-Aware Trajectory Prediction in Autonomous Driving
Jul 3, 2026Chengyue Wang, Bin Rao, Haicheng Liao +3Multi-Agent Trajectory Prediction Autonomous Driving
State Key Laboratory of Internet of Things for Smart City, University of Macau, Macau · Department of Civil and Environmental Engineering, University of Macau, Macau
A Dynamic Scene Interaction Reasoning Framework for Scene-level Lane-Change Intention and Trajectory Prediction of Multiple Interacting Vehicles
Jul 2, 2026Joshua Kofi Asamoah, Blessing Agyei Kyem, Eugene Denteh +1Temporal GNNs Multi-Agent Trajectory Prediction
North Dakota State University, 1410 14th Avenue Offerdahl North Building, CIE 201, Fargo, 58102, North Dakota, United States
Towards Metric-Agnostic Trajectory Forecasting
Jul 1, 2026Markus Knoche, Daan de Geus, Bastian LeibeAutonomous Driving Benchmarks Multi-Agent Trajectory Prediction
RWTH Aachen University, Germany · Eindhoven University of Technology, Netherlands
Diffusion-based 4D Trajectory Prediction and Distributed Control for UAV Swarms
Jun 30, 2026Tianshun Li, Hongliang Lu, Haoang Li +1Multi-Robot Systems Swarm Robotics
The Hong Kong University of Science and Technology (Guangzhou), China · Southern University of Science and Technology, China and MoSense Technologies, China
Unveiling Transferability in Trajectory Prediction via Latent Scene Embeddings
Jun 29, 2026Theodor Westny, David Axelsson, Björn Olofsson +1Representational Similarity Analysis Multi-Agent Trajectory Prediction
Division of Vehicular Systems, Linköping University, Linköping, Sweden · Department of Automatic Control, Lund University, Lund, Sweden
Three-Step Hierarchical Transformer for Multi-Pedestrian Trajectory Prediction
Jun 22, 2026Raphaël Delécluse, Hazem Wannous, Laurent Grisoni +1Pedestrian Behavior Modeling Pedestrian Trajectory Prediction
IMT Nord Europe, University of Lille, CNRS UMR 9189 - CRIStAL, F-59000 Lille, France · University of Lille, CNRS UMR 9189 - CRIStAL, F-59000 Lille, France · Explain, F-59000 Lille, France
Mind the Noise: Sensitivity of Transformer-based Interaction-Aware Trajectory Prediction Models to Noisy Data
Jun 19, 2026Shahab Salehi, Luca Lusvarghi, Miguel Sepulcre +1Multi-Agent Trajectory Prediction Autonomous Driving
Networked Systems Lab, Universidad Miguel Hernandez de Elche, Elche, Spain
JPPD: Joint Prediction_Planning Diffusion with Differentiable Safety Guidance for Dynamic Obstacle Avoidance in Intelligent Transportation Systems
Jun 14, 2026Jiahao Wu, Shengwen YuTrajectory Generation Diffusion-Based Planning
Department of Engineering, Mechanical Engineering, The University of Hong Kong, Hong Kong
Driving, Fast or Slow? Neuro-Symbolic Guidance for Motion Prediction in Multi-Modal Ground Mobility
Jun 13, 2026Simon Kohaut, Felix Divo, Julius Hahnewald +4Multi-Agent Trajectory Prediction Autonomous Driving
Artificial Intelligence and Machine Learning Lab, TU Darmstadt · Honda Research Institute · Hessian Center for AI (hessian.AI) +3
A Comparative Study of Graph Neural Network Layer Selection for Interaction Modelling in Driving Trajectory Prediction
Jun 12, 2026George Daoud, Mohamed El-DariebyGraph Neural Networks Multi-Agent Trajectory Prediction
Ontario Tech University, Oshawa, ON, Canada · Assiut University, Assiut, Egypt
Monte Carlo Pass Search: Using Trajectory Generation for 3D Counterfactual Pass Evaluation in Football
Jun 9, 2026Andrew Kang, Priya NarasimhanCounterfactual Evaluation Multi-Agent Trajectory Prediction
Carnegie Mellon University · Pittsburgh, USA
Trajectory Planning for Non-Communicating Mobile Robots using Inverse Optimal Control
May 29, 2026Nina Majer, Yannick Epple, Xin Ye +2Multi-Robot Motion Planning Trajectory Generation
FZI Research Center for Information Technology, Haid-und-Neu-Str.10-14, 76131 Karlsruhe, Germany · Institute of Control Systems, Karlsruhe Institute of Technology, Kaiserstraße 12, 76131 Karlsruhe, Germany
BitTP: The Lightweight Trajectory Prediction Model with BitLLM for Edge-Devices
May 28, 2026Mincheol Kang, Hyunjin Lim, Bomin Kang +1Multi-Agent Trajectory Prediction Weight-Only Quantization
1KAIST, Republic of Korea · 2DGIST, Republic of Korea
A Pedestrian-Vehicle Interaction Benchmark and Annotation Framework for Unstructured Scenes via Uncalibrated Cameras
May 25, 2026Haoyang Peng, Qian Hu, Songan Zhang +1Autonomous Driving Datasets Autonomous Driving Benchmarks
School of Automation and Intelligent Sensing, Shanghai Jiao Tong University, Shanghai 200240, China · Global Institute of Future Technology, Shanghai Jiao Tong University, Shanghai 200240, China
Agent-Centric Social Trajectory Prediction: A Free Energy Principle Perspective
May 25, 2026Yanping Wu, Ji Zhang, Hao Chen +2Multi-Agent Trajectory Prediction Probabilistic Forecasting
University of Glasgow Glasgow, UK · Southwest Jiaotong University Chengdu, China
Diverse Yet Consistent: Context-Guided Diffusion with Energy-Based Joint Refinement for Multi-Agent Motion Prediction
May 21, 2026Lei Chu, Yuhuan ZhaoMulti-Agent Trajectory Prediction Human Motion Generation
University of Southern California, Los Angeles, CA, USA
On Improving Multimodal Pedestrian Trajectory Prediction with CVAE: A Study on Benchmark and Robot Data
May 18, 2026Yuzhou Liu, Cristina Olaverri-MonrealPedestrian Behavior Modeling Pedestrian Trajectory Prediction
Dept. Intelligent Transport Systems, Johannes Kepler University Linz, Altenberger Straße 69, 4040 Linz, Austria.
Social-Mamba: Socially-Aware Trajectory Forecasting with State-Space Models
May 14, 2026Po-Chien Luan, Wuyang Li, Yang Gao +1Pedestrian Behavior Modeling Pedestrian Trajectory Prediction
EPFL, Switzerland
Exploitation of Hidden Context in Dynamic Movement Forecasting: A Neural Network Journey from Recurrent to Graph Neural Networks and General Purpose Transformers
May 14, 2026Lukas Schelenz, Shobha Rajanna, Denis Gosalci +6Graph Neural Networks Multi-Agent Trajectory Prediction
Fraunhofer Institute for Integrated Circuits IIS, 90411 Nürnberg, Germany · Friedrich-Alexander-Universität Erlangen-Nürnberg, 91058 Erlangen, Germany
Causality-Aware End-to-End Autonomous Driving via Ego-Centric Joint Scene Modeling
May 13, 2026Seokha Moon, Minseung Lee, Joon Seo +2Causal Representation Learning End-to-End Autonomous Driving
Korea University · Kakao Mobility
Encore: Conditioning Trajectory Forecasting via Biased Ego Rehearsals
May 12, 2026Conghao Wong, Ziqian Zou, Xinge YouMulti-Agent Trajectory Prediction Trajectory Prediction
Huazhong University of Science and Technology, Wuhan 430074, Hubei, China.
JACoP: Joint Alignment for Compliant Multi-Agent Prediction
May 12, 2026Qingze Liu, Alen Mrdovic, Danrui Li +3Pedestrian Trajectory Prediction Markov Random Fields
Rutgers University, New Brunswick · The College of New Jersey
Heteroscedastic Diffusion for Multi-Agent Trajectory Modeling
May 11, 2026Guillem Capellera, Antonio Rubio, Luis Ferraz +1Multi-Agent Trajectory Prediction Trajectory Prediction
Institut de Rob`otica i Inform`atica Industrial, CSIC-UPC, Barcelona, 08028, Spain · Kognia Sports Intelligence, 08960, Sant Just Desvern, Spain
ECTraj: Enhanced Consistency Training for Multi-Agent Trajectory Prediction
May 9, 2026Alen Mrdovic, Qingze, Liu +6Trajectory Generation Multi-Agent Trajectory Prediction
Tony · Rutgers University, New Brunswick · The College of New Jersey
Recall to Predict: Grounding Motion Forecasting in Interpretable Motion Bank
May 2, 2026Abhishek Vivekanandan, Ahmed Abouelazm, J. Marius ZöllnerMulti-Agent Trajectory Prediction Multimodal Trajectory Prediction
FZI Forschungszentrum Informatik · Karlsruhe Institute of Technology (KIT) Karlsruhe, Germany
FlowS: One-Step Motion Prediction via Local Transport Conditioning
Apr 28, 2026Leandro Di Bella, Adrian Munteanu, Bruno CornelisFlow Matching Trajectory Generation
Department of Electronics and Informatics, Vrije Universiteit Brussel, Pleinlaan 2, B-1050 Brussels, Belgium · IMEC, Kapeldreef 75, B-3001 Leuven, Belgium
SceneSelect: Selective Learning for Trajectory Scene Classification and Expert Scheduling
Apr 27, 2026Xinrun Wang, Deshun Xia, Yuxi Sun +1Multi-Agent Trajectory Prediction Expert Routing
School of Computer Science, China University of Geosciences (Wuhan) · School of Information Engineering, Wuhan University of Technology · School of Mathematics and Statistics, Wuhan University of Technology
Collaborative Trajectory Prediction via Late Fusion
Apr 24, 2026Nadya Abdel Madjid, Murad Mebrahtu, Zakhar Yagudin +5Multi-Agent Trajectory Prediction V2X Communication
Khalifa University, Computer Science, Abu Dhabi, UAE · Khalifa University, KUCARS-KU Center for Autonomous Robotic Systems, Department of Computer Science, Abu Dhabi, UAE · Khalifa University, Computer and Information Engineering, Abu Dhabi, UAE +2
Frozen LLMs as Map-Aware Spatio-Temporal Reasoners for Vehicle Trajectory Prediction
Apr 23, 2026Yanjiao Liu, Jiawei Liu, Xun Gong +1Multi-Agent Trajectory Prediction Autonomous Driving
School of Artificial Intelligence, Jilin University, Changchun 130012, PR China.
Chatting about Conditional Trajectory Prediction
Apr 20, 2026Yuxiang Zhao, Wei Huang, Haipeng Zeng +2Multi-Agent Trajectory Prediction Human Behavior Prediction
Sun Yat-sen University · Alibaba Group
EdgeVTP: Exploration of Latency-efficient Trajectory Prediction for Edge-based Embedded Vision Applications
Apr 18, 2026Seungjin Kim, Reza Jafarpourmarzouni, Christopher Neff +2Efficient Neural Network Inference Edge Inference
University of Wyoming · University of North Carolina at Charlotte · North Carolina A&T State University
MAVEN-T: Reinforced Heterogeneous Distillation for Real-Time Multi-Agent Trajectory Prediction
Apr 11, 2026Wenchang Duan, Zhenguo Gao, Jinguo Xian +1Model Compression Multi-Agent Trajectory Prediction
School of Mathematical Sciences, Shanghai Jiao Tong University, Shanghai 200240, China · Bio-X Institutes, Key Laboratory for the Genetics of Developmental and Neuropsychiatric Disorders, Shanghai Jiao Tong University, Shanghai 200030, China · Shanghai Key Laboratory of Psychotic Disorders, and Brain Science and Technology Research Center, Shanghai Jiao Tong University, Shanghai 200030, China
Reverberation: Learning the Latencies Before Forecasting Trajectories
Nov 14, 2025Conghao Wong, Ziqian Zou, Beihao Xia +1Multi-Agent Trajectory Prediction Agent Trajectory Analysis
Huazhong University of Science and Technology, Wuhan 430074, Hubei, China
Hi-FLoop: Hierarchical State-Feedback Loops for Multi-Timescale World Modeling
Date pendingRx Fan, Z HanMulti-Agent Trajectory Prediction Multimodal Trajectory Prediction
School of Systems Science, Beijing Normal University

Oct 6, 2026, cs.LGJ/K move · Enter open · S save

Context-aware Attention-based Gaussian Mixture Models for Vehicular Trajectory Prediction

Arash Raftari, Babak Ebrahimi Soorchaei, Yaser P. Fallah

Department of Electrical and Computer Engineering, University of Central Florida, Orlando, Florida, USA · Department of Computer Science, University of Central Florida, Orlando, Florida, USA

Multimodal Trajectory Prediction Vehicle Trajectory Prediction Multi-Agent Trajectory Prediction Gaussian Mixture Models

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Reliable and interpretable trajectory prediction is critical for cooperative and autonomous driving in complex and uncertain environments. This paper introduces a Context-Aware Attention-based Gaussian Mixture Model (CAA-GMM) for multimodal, uncertainty-aware motion forecasting. The proposed approach models future motion as a probabilistic mixture conditioned on both scene context and agent dynamics, capturing diverse behavioral modes with interpretable Gaussian components. A lightweight attention mechanism adaptively encodes inter-agent interactions and contextual salience, enabling efficient fusion of rasterized environment cues and motion history in dense traffic scenes. Comprehensive evaluations on the nuScenes and Argoverse 2 datasets demonstrate that CAA-GMM achieves competitive or superior accuracy compared with state-of-the-art raster-based baselines, while maintaining low computational complexity. Ablation analyses confirm the importance of the attention module for robust contextual reasoning and predictive precision. Furthermore, evaluations under imperfect communication and perception conditions highlight the framework's resilience to uncertainty, establishing CAA-GMM as an efficient and scalable solution for cooperative trajectory prediction in intelligent transportation systems.

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