{"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/it-is-not-the-journey-but-the-destination","title":"It Is Not the Journey but the Destination: Endpoint Conditioned Trajectory Prediction","arxiv_id":"2004.02025","date":"2020-04-04","proceeding":"ECCV 2020 8","authors":["Karttikeya Mangalam","Harshayu Girase","Shreyas Agarwal","Kuan-Hui Lee","Ehsan Adeli","Jitendra Malik","Adrien Gaidon"],"abstract":"Human trajectory forecasting with multiple socially interacting agents is of critical importance for autonomous navigation in human environments, e.g., for self-driving cars and social robots. In this work, we present Predicted Endpoint Conditioned Network (PECNet) for flexible human trajectory prediction. PECNet infers distant trajectory endpoints to assist in long-range multi-modal trajectory prediction. A novel non-local social pooling layer enables PECNet to infer diverse yet socially compliant trajectories. Additionally, we present a simple \"truncation-trick\" for improving few-shot multi-modal trajectory prediction performance. We show that PECNet improves state-of-the-art performance on the Stanford Drone trajectory prediction benchmark by ~20.9% and on the ETH/UCY benchmark by ~40.8%. Project homepage: https://karttikeya.github.io/publication/htf/","url_abs":"https://arxiv.org/abs/2004.02025v3","url_pdf":"https://arxiv.org/pdf/2004.02025v3.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":"it-is-not-the-journey-but-the-destination","repo_url":"https://github.com/HarshayuGirase/PECNet","is_official":1,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"pytorch","reach":{"status":"unanswered"}},{"paper_slug":"it-is-not-the-journey-but-the-destination","repo_url":"https://github.com/harshayugirase/human-path-prediction","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"pytorch","reach":{"status":"unanswered"}},{"paper_slug":"it-is-not-the-journey-but-the-destination","repo_url":"https://github.com/inhwanbae/npsn","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"pytorch","reach":{"status":"ok","spdx":"MIT"}},{"paper_slug":"it-is-not-the-journey-but-the-destination","repo_url":"https://github.com/zhanwei-z/g2ltraj","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"pytorch","reach":null}],"tasks":[{"task_slug":"autonomous-navigation","task_name":"Autonomous Navigation"},{"task_slug":"multi-future-trajectory-prediction-1","task_name":"Multi Future Trajectory Prediction"},{"task_slug":"multi-future-trajectory-prediction","task_name":"Multi-future Trajectory Prediction"},{"task_slug":"prediction","task_name":"Prediction"},{"task_slug":"self-driving-cars","task_name":"Self-Driving Cars"},{"task_slug":"trajectory-forecasting","task_name":"Trajectory Forecasting"},{"task_slug":"trajectory-prediction","task_name":"Trajectory Prediction"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[{"leaderboard":"/sota/trajectory-prediction-on-ethucy","task":"Trajectory Prediction","dataset":"ETH/UCY","model":"PECNet","rank_in_archive_order":11,"of":20,"metrics":{"ADE-8/12":"0.29","FDE-8/12":"0.48"},"uses_additional_data":false},{"leaderboard":"/sota/trajectory-prediction-on-stanford-drone","task":"Trajectory Prediction","dataset":"Stanford Drone","model":"PECNet","rank_in_archive_order":9,"of":24,"metrics":{"ADE-8/12 @K = 20":"9.96","FDE-8/12 @K= 20":"15.88"},"uses_additional_data":false}],"syntology":{"atlas_url":"https://app.syntology.ai/?focus=2004.02025","mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}