PCTP predicts multiple hierarchical "pivot" waypoints first and then refines the segments between them, improving long-horizon trajectory prediction on Argoverse I and II.
Densetnt: End-to-end trajectory prediction from dense goal sets
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Pivot-Centric Trajectory Prediction: Bridging Long Horizons via Dynamical Guidance
PCTP predicts multiple hierarchical "pivot" waypoints first and then refines the segments between them, improving long-horizon trajectory prediction on Argoverse I and II.