mlsanityData to 7 Oct 2026

PiP: Planning-informed Trajectory Prediction for Autonomous Driving

arXiv 2003.11476 ↗First posted 25 Mar 2020cs.CV cs.ROcited by 80

Not on the map. Why?

Cited by 25 in End-to-end autonomous driving, but placed by its own abstract, which didn’t fit.

Abstract (arXiv)

It is critical to predict the motion of surrounding vehicles for self-driving planning, especially in a socially compliant and flexible way. However, future prediction is challenging due to the interaction and uncertainty in driving behaviors. We propose planning-informed trajectory prediction (PiP) to tackle the prediction problem in the multi-agent setting. Our approach is differentiated from the traditional manner of prediction, which is only based on historical information and decoupled with planning. By informing the prediction process with the planning of ego vehicle, our method achieves the state-of-the-art performance of multi-agent forecasting on highway datasets. Moreover, our approach enables a novel pipeline which couples the prediction and planning, by conditioning PiP on multiple candidate trajectories of the ego vehicle, which is highly beneficial for autonomous driving in interactive scenarios.

Key facts. Cited by 80 papers in the map (data through 7 Oct 2026). First posted on arXiv 25 Mar 2020.

Builds on

No reference list yet.

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 8; 2022: 10; 2023: 21; 2024: 22; 2025: 13; 2026: 6.

80 papers.

Sort:

By area:

  1. 2022Planning-oriented Autonomous Drivingcited by 1,068
  2. 2023Parting with Misconceptions about Learning-based Vehicle Motion Planningcited by 238
  3. 2023MotionDiffuser: Controllable Multi-Agent Motion Prediction using Diffusioncited by 210
  4. 2023MotionLM: Multi-Agent Motion Forecasting as Language Modelingcited by 154
  5. 2023GameFormer: Game-theoretic Modeling and Learning of Transformer-based Interactive Prediction and Planning for Autonomous Drivingcited by 141
  6. 2021LaneRCNN: Distributed Representations for Graph-Centric Motion Forecastingcited by 112
  7. 2022Differentiable Integrated Motion Prediction and Planning with Learnable Cost Function for Autonomous Drivingcited by 71
  8. 2023Exploring Recurrent Long-term Temporal Fusion for Multi-view 3D Perceptioncited by 65
  9. 2021Learning to Predict Vehicle Trajectories with Model-based Planningcited by 63
  10. 2023LAformer: Trajectory Prediction for Autonomous Driving with Lane-Aware Scene Constraintscited by 50
  11. 2023Cam4DOcc: Benchmark for Camera-Only 4D Occupancy Forecasting in Autonomous Driving Applicationscited by 50
  12. 2023DTPP: Differentiable Joint Conditional Prediction and Cost Evaluation for Tree Policy Planning in Autonomous Drivingcited by 46
38 more
  1. 2025ReSim: Reliable World Simulation for Autonomous Drivingcited by 42
  2. 2022JFP: Joint Future Prediction with Interactive Multi-Agent Modeling for Autonomous Drivingcited by 40
  3. 2022Conditional Predictive Behavior Planning with Inverse Reinforcement Learning for Human-like Autonomous Drivingcited by 34
  4. 2023The Integration of Prediction and Planning in Deep Learning Automated Driving Systems: A Reviewcited by 29
  5. 2022Deep Interactive Motion Prediction and Planning: Playing Games with Motion Prediction Modelscited by 27
  6. 2024SMART: Scalable Multi-agent Real-time Motion Generation via Next-token Predictioncited by 25
  7. 2025SOLVE: Synergy of Language-Vision and End-to-End Networks for Autonomous Drivingcited by 21
  8. 2021Deep Structured Reactive Planningcited by 18
  9. 2021End-to-End Interactive Prediction and Planning with Optical Flow Distillation for Autonomous Drivingcited by 17
  10. 2021Euro-PVI: Pedestrian Vehicle Interactions in Dense Urban Centerscited by 16
  11. 2024Progressive Pretext Task Learning for Human Trajectory Predictioncited by 16
  12. 2021Safety-aware Motion Prediction with Unseen Vehicles for Autonomous Drivingcited by 15
  13. 2025Co-MTP: A Cooperative Trajectory Prediction Framework with Multi-Temporal Fusion for Autonomous Drivingcited by 14
  14. 2025Trajectory Prediction for Autonomous Driving: Progress, Limitations, and Future Directionscited by 14
  15. 2024Prompting Multi-Modal Tokens to Enhance End-to-End Autonomous Driving Imitation Learning with LLMscited by 13
  16. 2025OccProphet: Pushing Efficiency Frontier of Camera-Only 4D Occupancy Forecasting with Observer-Forecaster-Refiner Frameworkcited by 11
  17. 2023EPG-MGCN: Ego-Planning Guided Multi-Graph Convolutional Network for Heterogeneous Agent Trajectory Predictioncited by 10
  18. 2023Graph-Based Interaction-Aware Multimodal 2D Vehicle Trajectory Prediction using Diffusion Graph Convolutional Networkscited by 10
  19. 2023InteRACT: Transformer Models for Human Intent Prediction Conditioned on Robot Actionscited by 10
  20. 2025ColaVLA: Leveraging Cognitive Latent Reasoning for Hierarchical Parallel Trajectory Planning in Autonomous Drivingcited by 10
  21. 2022Pishgu: Universal Path Prediction Network Architecture for Real-time Cyber-physical Edge Systemscited by 9
  22. 2024EgoNav: Egocentric Scene-aware Human Trajectory Predictioncited by 9
  23. 2024C2F-TP: A Coarse-to-Fine Denoising Framework for Uncertainty-Aware Trajectory Predictioncited by 9
  24. 2021TIP: Task-Informed Motion Prediction for Intelligent Vehiclescited by 8
  25. 2022Trajectory Forecasting from Detection with Uncertainty-Aware Motion Encodingcited by 8
  26. 2022Interventional Behavior Prediction: Avoiding Overly Confident Anticipation in Interactive Predictioncited by 8
  27. 2023Occupancy Prediction-Guided Neural Planner for Autonomous Drivingcited by 8
  28. 2023BiFF: Bi-level Future Fusion with Polyline-based Coordinate for Interactive Trajectory Predictioncited by 8
  29. 2024MoST: Multi-modality Scene Tokenization for Motion Predictioncited by 8
  30. 2025Motion Forecasting for Autonomous Vehicles: A Surveycited by 8
  31. 2021Grounding Linguistic Commands to Navigable Regionscited by 6
  32. 2022Vehicle Trajectory Prediction on Highways Using Bird Eye View Representations and Deep Learningcited by 6
  33. 2023Learning Interaction-aware Motion Prediction Model for Decision-making in Autonomous Drivingcited by 6
  34. 2024Hypergraph-based Motion Generation with Multi-modal Interaction Relational Reasoningcited by 6
  35. 2024Goal-based Neural Physics Vehicle Trajectory Prediction Modelcited by 6
  36. 2025AI2-Active Safety: AI-enabled Interaction-aware Active Safety Analysis with Vehicle Dynamicscited by 6
  37. 2025Foresight in Motion: Reinforcing Trajectory Prediction with Reward Heuristicscited by 6
  38. 2022DiPA: Probabilistic Multi-Modal Interactive Prediction for Autonomous Drivingcited by 5

50 most cited of 80 All 80 (JSON)