Trajectory Forecasts in Unknown Environments Conditioned on Grid-Based Plans

Dev.to / 4/23/2026

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Key Points

The work focuses on predicting an agent’s future trajectory in unknown environments by conditioning the forecast on a grid-based plan.
It frames trajectory forecasting as a planning-conditioned prediction problem, using the grid plan as contextual guidance for the model’s output.
The approach is designed to produce forecasts that can adapt to environmental uncertainty while still following constraints implied by the plan.
The proposed method is evaluated in settings that involve unknown or changing surroundings to demonstrate effectiveness of plan-conditioned forecasting.

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