mlsanityData to 7 Oct 2026

MATS: An Interpretable Trajectory Forecasting Representation for Planning and Control

arXiv 2009.07517 ↗First posted 16 Sep 2020cs.RO cs.HC cs.LGcited by 30

Not on the map. Why?

Abstract (arXiv)

Reasoning about human motion is a core component of modern human-robot interactive systems. In particular, one of the main uses of behavior prediction in autonomous systems is to inform robot motion planning and control. However, a majority of planning and control algorithms reason about system dynamics rather than the predicted agent tracklets (i.e., ordered sets of waypoints) that are commonly output by trajectory forecasting methods, which can hinder their integration. Towards this end, we propose Mixtures of Affine Time-varying Systems (MATS) as an output representation for trajectory forecasting that is more amenable to downstream planning and control use. Our approach leverages successful ideas from probabilistic trajectory forecasting works to learn dynamical system representations that are well-studied in the planning and control literature. We integrate our predictions with a proposed multimodal planning methodology and demonstrate significant computational efficiency improvements on a large-scale autonomous driving dataset.

Key facts. Cited by 30 papers in the map (data through 7 Oct 2026). First posted on arXiv 16 Sep 2020.

Builds on

No reference list yet.

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 6; 2022: 9; 2023: 7; 2024: 5; 2025: 2; 2026: 1.

30 papers.

Sort:

By area:

  1. 2022Planning-oriented Autonomous Drivingcited by 1,068
  2. 2021THOMAS: Trajectory Heatmap Output with learned Multi-Agent Samplingcited by 101
  3. 2022Differentiable Integrated Motion Prediction and Planning with Learnable Cost Function for Autonomous Drivingcited by 71
  4. 2022ScePT: Scene-consistent, Policy-based Trajectory Predictions for Planningcited by 63
  5. 2021Stepwise Goal-Driven Networks for Trajectory Predictioncited by 62
  6. 2023DTPP: Differentiable Joint Conditional Prediction and Cost Evaluation for Tree Policy Planning in Autonomous Drivingcited by 46
  7. 2024Gen-Drive: Enhancing Diffusion Generative Driving Policies with Reward Modeling and Reinforcement Learning Fine-tuningcited by 41
  8. 2022DiffStack: A Differentiable and Modular Control Stack for Autonomous Vehiclescited by 36
  9. 2023Dynamic-Resolution Model Learning for Object Pile Manipulationcited by 22
  10. 2021Injecting Planning-Awareness into Prediction and Detection Evaluationcited by 21
  11. 2021Heterogeneous-Agent Trajectory Forecasting Incorporating Class Uncertaintycited by 19
  12. 2023Scene Informer: Anchor-based Occlusion Inference and Trajectory Prediction in Partially Observable Environmentscited by 14
18 more
  1. 2023Interactive Joint Planning for Autonomous Vehiclescited by 13
  2. 2022RAP: Risk-Aware Prediction for Robust Planningcited by 12
  3. 2021Rethinking Trajectory Forecasting Evaluationcited by 11
  4. 2022Task-Relevant Failure Detection for Trajectory Predictors in Autonomous Vehiclescited by 11
  5. 2025SICNav-Diffusion: Safe and Interactive Crowd Navigation with Diffusion Trajectory Predictionscited by 10
  6. 2021Learning Interaction-aware Guidance Policies for Motion Planning in Dense Traffic Scenarioscited by 7
  7. 2023DRL-Based Trajectory Tracking for Motion-Related Modules in Autonomous Drivingcited by 6
  8. 2024Hypergraph-Transformer (HGT) for Interactive Event Prediction in Laparoscopic and Robotic Surgerycited by 5
  9. 2025Trends in Motion Prediction Toward Deployable and Generalizable Autonomy: A Revisit and Perspectivescited by 5
  10. 2022LOPR: Latent Occupancy PRediction using Generative Modelscited by 4
  11. 2024CARFF: Conditional Auto-encoded Radiance Field for 3D Scene Forecastingcited by 4
  12. 2024Prediction Horizon Requirements for Automated Driving: Optimizing Safety, Comfort, and Efficiencycited by 3
  13. 2022P4P: Conflict-Aware Motion Prediction for Planning in Autonomous Drivingcited by 1
  14. 2022Interpretable Deep Trackingcited by 0
  15. 2023CLiNet: Joint Detection of Road Network Centerlines in 2D and 3Dcited by 0
  16. 2023Occlusion-Aware 2D and 3D Centerline Detection for Urban Driving via Automatic Label Generationcited by 0
  17. 2024Scalable Multi-modal Model Predictive Control via Duality-based Interaction Predictionscited by 0
  18. 2026TRACER: Training-Free Closed-Loop Structured Inference for Traffic Accident Reconstructioncited by 0