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Path prediction is an essential task for many real-world Cyber-Physical Systems (CPS) applications, from autonomous driving and traffic monitoring/management to pedestrian/worker safety. These real-world CPS applications need a robust, lightweight path prediction that can provide a universal network architecture for multiple subjects (e.g., pedestrians and vehicles) from different perspectives. However, most existing algorithms are tailor-made for a unique subject with a specific camera perspective and scenario. This article presents Pishgu, a universal lightweight network architecture, as a robust and holistic solution for path prediction. Pishgu's architecture can adapt to multiple path prediction domains with different subjects (vehicles, pedestrians), perspectives (bird's-eye, high-angle), and scenes (sidewalk, highway). Our proposed architecture captures the inter-dependencies within the subjects in each frame by …