arXiv:2609.16528v1 Announce Type: new
Abstract: Building accurate decision-support tools for next-generation air traffic control requires robust trajectory prediction models. We present a flow-matchi...
By Mathurin Petit, Emir Torun, Louis Brusset, Jordan Kam, Alexandre M. Bayen
M3-Former is a multimodal transformer framework that uses large language models to encode vessel static attributes and navigational intent as semantic priors for long‑term trajectory prediction. It builds a unified multimodal representation space, aligns static semantic information with dynamic trajectory features via self‑attention, and employs a dual‑granularity Mixture‑of‑Experts architecture to capture both global route planning and fine‑grained maneuvering behaviors. A Steering‑Weighted Cross‑Entropy loss further improves accuracy on sparse turning events, and experiments on a Danish AIS dataset show consistent improvements over state‑of‑the‑art baselines, reducing ADE and FDE by up to 5.1% in 4‑hour predictions.
By Wenzhe Jin, Haina Tang
DiffWAM is a geometry‑conditioned navigation world‑action model that transforms predictive features from a frozen video foundation model into continuous camera trajectories, eliminating the need for future‑video synthesis and multi‑frame reconstruction during deployment. Its Grid‑Motion module preserves spatial‑temporal motion associations, while Latent2Pose grounds them with first‑frame geometry to recover metrically meaningful 3D motion. The system, complemented by FastDreamer for asynchronous trajectory handoff, achieves a trajectory RMSE of 0.3492 m and a 74.40 % endpoint success rate on the DiffWAM‑1000 benchmark, with real‑world tests showing complex UAV behaviors and an onboard implementation reaching 1.08 s latency on NVIDIA Jetson AGX Thor.
By Mo Zhu, Yuze Wu, Xijie Huang, Xiao Cui, Fei Gao, Xin Zhou
RiskWorld is a risk‑aware world modeling framework that forecasts shared occupancy and selectively replaces planned trajectories in automated driving. It fuses spatial risk fields, temporal actor context, and visual bird’s‑eye‑view features, using flow‑guided evolution to transport occupancy and signed residuals to correct it. In open‑loop planning on nuScenes, RiskWorld achieves the lowest collision rate over a 3‑second horizon and the second‑best average L2 error, running at 11.5 FPS on a single NVIDIA RTX 4090.
By Rongxiang Zeng, Linsen Cai, Jiafu Zhang, Yijie Zhong, Yide Tao, Shuai Wang, Nan Zheng, Hai L. Vu, Alvaro Garcia Hernandez, Yongqi Dong
Variational Streaming Flow (VSF) extends the efficient Streaming Flow (SF) framework by learning a latent distribution conditioned on system dynamics, enabling probabilistic forecasting in physical time. Unlike SF’s deterministic velocity field, VSF produces multiple plausible future trajectories, improving predictive accuracy and distributional fidelity across deterministic and stochastic dynamical systems. The method supports long‑horizon rollouts over 1,000 steps, handles bifurcating dynamics, and can be integrated as a plug‑and‑play predictor into Joint‑Embedding Predictive Architecture (JEPA) world models to enhance navigation, motion planning, and manipulation tasks.
By Hans Hao-Hsun Hsu, Minseon Gwak, Soon Hoe Lim, Pan Li, N. Benjamin Erichson
MC-DeTra is a reimplementation of the DeTra model that jointly performs object detection and socially-aware trajectory forecasting in bird's-eye-view images. It introduces motion-consistency mechanisms that add supervision from each actor’s past motion, surrounding traffic occupancy, and a consistency constraint aligning predicted heading with motion direction. The added losses are train‑only and inference‑safe, improving dynamic trajectory forecasting on the Waymo Open Dataset while maintaining or enhancing detection accuracy.
By Vladislav Diuzhev, Dmitry Yudin