U2Diffine augments diffusion denoising with negative log-likelihood loss and first-order uncertainty propagation to jointly perform trajectory completion and provide per-state heteroscedastic uncertainty for multi-agent paths.
Dag-net: Double attentive graph neural network for trajectory forecasting
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Heteroscedastic Diffusion for Multi-Agent Trajectory Modeling
U2Diffine augments diffusion denoising with negative log-likelihood loss and first-order uncertainty propagation to jointly perform trajectory completion and provide per-state heteroscedastic uncertainty for multi-agent paths.