{"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/modeling-multimodal-dynamic-spatiotemporal","title":"The Trajectron: Probabilistic Multi-Agent Trajectory Modeling With Dynamic Spatiotemporal Graphs","arxiv_id":"1810.05993","date":"2018-10-14","proceeding":"ICCV 2019 10","authors":["Boris Ivanovic","Marco Pavone"],"abstract":"Developing safe human-robot interaction systems is a necessary step towards the widespread integration of autonomous agents in society. A key component of such systems is the ability to reason about the many potential futures (e.g. trajectories) of other agents in the scene. Towards this end, we present the Trajectron, a graph-structured model that predicts many potential future trajectories of multiple agents simultaneously in both highly dynamic and multimodal scenarios (i.e. where the number of agents in the scene is time-varying and there are many possible highly-distinct futures for each agent). It combines tools from recurrent sequence modeling and variational deep generative modeling to produce a distribution of future trajectories for each agent in a scene. We demonstrate the performance of our model on several datasets, obtaining state-of-the-art results on standard trajectory prediction metrics as well as introducing a new metric for comparing models that output distributions.","url_abs":"https://arxiv.org/abs/1810.05993v3","url_pdf":"https://arxiv.org/pdf/1810.05993v3.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":"modeling-multimodal-dynamic-spatiotemporal","repo_url":"https://github.com/StanfordASL/Trajectron","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"pytorch","reach":null}],"tasks":[{"task_slug":"decision-making","task_name":"Decision Making"},{"task_slug":"motion-forecasting","task_name":"Motion Forecasting"},{"task_slug":"trajectory-forecasting","task_name":"Trajectory Forecasting"},{"task_slug":"trajectory-modeling","task_name":"Trajectory Modeling"},{"task_slug":"trajectory-prediction","task_name":"Trajectory Prediction"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}