Unified Uncertainty-Aware Diffusion for Multi-Agent Trajectory Modeling

Figure 1 . Uncertainty-aware, unified and interpretable approach for trajectory modeling in multi-agent scenarios. U2Diff is a diffusion-based model capable of performing trajectory completion tasks such as forecasting, imputation or inferring totally unseen agents, while also jointly estimating state-wise uncertainty. RankNN is a post-processing operation that infers an error probability for each generated mode under the same prior observations, which is strongly correlated with the error related to the ground truth.