Pivot-Centric Trajectory Prediction: Bridging Long Horizons via Dynamical Guidance

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arXiv:2608.03521v1 Announce Type: cross Abstract: 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-t