Pivot-Centric Trajectory Prediction: Bridging Long Horizons via Dynamical Guidance
Forecasting precise future motion of surrounding agents is essential for reliable autonomous vehicles. However, as the demand for longer prediction horizons increases, existing endpoint-completion or iterative-refine methods increasingly struggle with weak guidance and compounding errors. To tackle the long-horizon prediction challenge, we propose Pivot-Centric Trajectory Prediction (PCTP). By introducing ``pivots'' and focusing on predicting pivot points along extended trajectories, we divide the long-term prediction task into short-term sub-tasks at various scales. Specifically, PCTP decouples the long-term trajectory predicting process into two processes: pivot prediction and pivot-bas...
| Authors | Xiucong Zhao, Jindong Tian, Hao Miao |
|---|---|
| Primary category | cs.RO |
| Published | 4 August 2026 |
| Last updated at source | 4 August 2026 |
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