{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/fast-inference-and-update-of-probabilistic","title":"Fast Inference and Update of Probabilistic Density Estimation on Trajectory Prediction","arxiv_id":"2308.08824","date":"2023-08-17","proceeding":"ICCV 2023 1","authors":["Takahiro Maeda","Norimichi Ukita"],"abstract":"Safety-critical applications such as autonomous vehicles and social robots require fast computation and accurate probability density estimation on trajectory prediction. To address both requirements, this paper presents a new normalizing flow-based trajectory prediction model named FlowChain. FlowChain is a stack of conditional continuously-indexed flows (CIFs) that are expressive and allow analytical probability density computation. This analytical computation is faster than the generative models that need additional approximations such as kernel density estimation. Moreover, FlowChain is more accurate than the Gaussian mixture-based models due to fewer assumptions on the estimated density. FlowChain also allows a rapid update of estimated probability densities. This update is achieved by adopting the \\textit{newest observed position} and reusing the flow transformations and its log-det-jacobians that represent the \\textit{motion trend}. This update is completed in less than one millisecond because this reuse greatly omits the computational cost. Experimental results showed our FlowChain achieved state-of-the-art trajectory prediction accuracy compared to previous methods. Furthermore, our FlowChain demonstrated superiority in the accuracy and speed of density estimation. Our code is available at \\url{https://github.com/meaten/FlowChain-ICCV2023}","url_abs":"https://arxiv.org/abs/2308.08824v1","url_pdf":"https://arxiv.org/pdf/2308.08824v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"fast-inference-and-update-of-probabilistic","repo_url":"https://github.com/meaten/flowchain-iccv2023","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"pytorch","reach":{"status":"ok"}}],"tasks":[{"task_slug":"autonomous-vehicles","task_name":"Autonomous Vehicles"},{"task_slug":"density-estimation","task_name":"Density Estimation"},{"task_slug":"prediction","task_name":"Prediction"},{"task_slug":"trajectory-prediction","task_name":"Trajectory Prediction"}],"methods":[{"method_slug":"speed","method_name":"SPEED"}],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"syntology_url":"https://syntology.ai/paper/2308.08824","atlas_url":"https://app.syntology.ai/?focus=2308.08824","mcp":{"get_harvested_code_for_paper":{"arxiv_id":"2308.08824"}},"developers":"https://syntology.ai/developers","read_at":"2026-09-25T09:33:49+00:00","read_at_is":"when the build read Syntology's graph, not when any sample ran","claim":"Per-sample execution status on synthesized fixtures; not a correctness claim about the paper. Samples come from repositories linked to the paper, official or community; repo_kind says which.","repos":[{"provenance":"external:paperswithcode_snapshot_2025-07-28","url":"https://github.com/meaten/flowchain-iccv2023","reach":{"status":"ok"}}],"summary":{"ran_draft_wrong":1,"ran":5,"unverified":5},"by_repo_kind":{"official":{"samples":11,"ran":6,"repositories":1}},"repo_kind_vocabulary":{"official":"The archive marks this repository official for the paper","named_in_paper":"The archive records that the paper mentions this repository; it is not marked official","listed":"In the archive's code links for this paper, not marked official and not recorded as mentioned in the paper","found_in_text":"Syntology found this repository in the paper's own text; whether it is the authors' implementation is not asserted","community":"Not in the archive's code links for this paper; a community repository Syntology harvested"},"n_pointer_only_for_licence":11,"samples":[{"code_sha256_prefix":"5a2e1cee97642f25","entry":"create_masks","repo":"meaten/flowchain-iccv2023","repo_kind":"official","path":"src/models/TP/TFCondARFlow.py","file_url":"https://github.com/meaten/flowchain-iccv2023/blob/HEAD/src/models/TP/TFCondARFlow.py","link_basis":"harvester_set","language":"python","status":"ran_draft_wrong","verification_level":1,"contract_check":"OUTPUT_MISDECLARED","metamorphic_tier":"deterministic","behaviour_fingerprint":false,"licence":"NONE","inline_ok":false,"mcp_get_code":{"code_sha256":"5a2e1cee97642f25"}},{"code_sha256_prefix":"283aa4275dc465c0","entry":"displacement_error","repo":"meaten/flowchain-iccv2023","repo_kind":"official","path":"src/metrics/TP_metrics.py","file_url":"https://github.com/meaten/flowchain-iccv2023/blob/HEAD/src/metrics/TP_metrics.py","link_basis":"harvester_set","language":"python","status":"ran","verification_level":1,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":true,"licence":"NONE","inline_ok":false,"mcp_get_code":{"code_sha256":"283aa4275dc465c0"}},{"code_sha256_prefix":"9bb40f2536a46a93","entry":"evaluate_helper","repo":"meaten/flowchain-iccv2023","repo_kind":"official","path":"src/metrics/TP_metrics.py","file_url":"https://github.com/meaten/flowchain-iccv2023/blob/HEAD/src/metrics/TP_metrics.py","link_basis":"harvester_set","language":"python","status":"ran","verification_level":1,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"NONE","inline_ok":false,"mcp_get_code":{"code_sha256":"9bb40f2536a46a93"}},{"code_sha256_prefix":"83ba7a2cd90f899e","entry":"final_displacement_error","repo":"meaten/flowchain-iccv2023","repo_kind":"official","path":"src/metrics/TP_metrics.py","file_url":"https://github.com/meaten/flowchain-iccv2023/blob/HEAD/src/metrics/TP_metrics.py","link_basis":"first_harvest_node","language":"python","status":"ran","verification_level":1,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":true,"licence":"NONE","inline_ok":false,"mcp_get_code":{"code_sha256":"83ba7a2cd90f899e"}},{"code_sha256_prefix":"5a0beb315ee2d6b3","entry":"get_model_device","repo":"meaten/flowchain-iccv2023","repo_kind":"official","path":"src/models/TP/MID.py","file_url":"https://github.com/meaten/flowchain-iccv2023/blob/HEAD/src/models/TP/MID.py","link_basis":"harvester_set","language":"python","status":"ran","verification_level":1,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"NONE","inline_ok":false,"mcp_get_code":{"code_sha256":"5a0beb315ee2d6b3"}},{"code_sha256_prefix":"7935f564a92fc196","entry":"load_tuned","repo":"meaten/flowchain-iccv2023","repo_kind":"official","path":"src/utils.py","file_url":"https://github.com/meaten/flowchain-iccv2023/blob/HEAD/src/utils.py","link_basis":"first_harvest_node","language":"python","status":"ran","verification_level":1,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"NONE","inline_ok":false,"mcp_get_code":{"code_sha256":"7935f564a92fc196"}},{"code_sha256_prefix":"8d998898dd004332","entry":"Build_Metrics","repo":"meaten/flowchain-iccv2023","repo_kind":"official","path":"src/metrics/build_metrics.py","file_url":"https://github.com/meaten/flowchain-iccv2023/blob/HEAD/src/metrics/build_metrics.py","link_basis":"first_harvest_node","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"NONE","inline_ok":false,"mcp_get_code":{"code_sha256":"8d998898dd004332"}},{"code_sha256_prefix":"87e0be0c380d6420","entry":"Build_TP_model","repo":"meaten/flowchain-iccv2023","repo_kind":"official","path":"src/models/TP/TP_models.py","file_url":"https://github.com/meaten/flowchain-iccv2023/blob/HEAD/src/models/TP/TP_models.py","link_basis":"first_harvest_node","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"NONE","inline_ok":false,"mcp_get_code":{"code_sha256":"87e0be0c380d6420"}},{"code_sha256_prefix":"82816eb1edfdbd19","entry":"gaussian_entropy","repo":"meaten/flowchain-iccv2023","repo_kind":"official","path":"src/models/TP/MID.py","file_url":"https://github.com/meaten/flowchain-iccv2023/blob/HEAD/src/models/TP/MID.py","link_basis":"harvester_set","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"NONE","inline_ok":false,"mcp_get_code":{"code_sha256":"82816eb1edfdbd19"}},{"code_sha256_prefix":"52fafe519fb912f0","entry":"load_config","repo":"meaten/flowchain-iccv2023","repo_kind":"official","path":"src/utils.py","file_url":"https://github.com/meaten/flowchain-iccv2023/blob/HEAD/src/utils.py","link_basis":"first_harvest_node","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"NONE","inline_ok":false,"mcp_get_code":{"code_sha256":"52fafe519fb912f0"}},{"code_sha256_prefix":"534f60a963b5e21b","entry":"reparameterize_gaussian","repo":"meaten/flowchain-iccv2023","repo_kind":"official","path":"src/models/TP/MID.py","file_url":"https://github.com/meaten/flowchain-iccv2023/blob/HEAD/src/models/TP/MID.py","link_basis":"harvester_set","language":"python","status":"unverified","verification_level":0,"contract_check":null,"metamorphic_tier":null,"behaviour_fingerprint":false,"licence":"NONE","inline_ok":false,"mcp_get_code":{"code_sha256":"534f60a963b5e21b"}}]},"arxiv_metadata":null,"syntology_extracted_results":null}