mlsanityData to 7 Oct 2026

GOHOME: Graph-Oriented Heatmap Output for future Motion Estimation

arXiv 2109.01827 ↗First posted 4 Sep 2021cs.CV cs.ROcited by 146

Not on the map. Why?

Cited by 20 in End-to-end autonomous driving, but placed by its own abstract, which didn’t fit.

Abstract (arXiv)

In this paper, we propose GOHOME, a method leveraging graph representations of the High Definition Map and sparse projections to generate a heatmap output representing the future position probability distribution for a given agent in a traffic scene. This heatmap output yields an unconstrained 2D grid representation of agent future possible locations, allowing inherent multimodality and a measure of the uncertainty of the prediction. Our graph-oriented model avoids the high computation burden of representing the surrounding context as squared images and processing it with classical CNNs, but focuses instead only on the most probable lanes where the agent could end up in the immediate future. GOHOME reaches 2nd on Argoverse Motion Forecasting Benchmark on the MissRate6 metric while achieving significant speed-up and memory burden diminution compared to Argoverse 1st place method HOME. We also highlight that heatmap output enables multimodal ensembling and improve 1st place MissRate6 by more than 15% with our best ensemble on Argoverse. Finally, we evaluate and reach state-of-the-art performance on the other trajectory prediction datasets nuScenes and Interaction, demonstrating the generalizability of our method.

Key facts. Cited by 146 papers in the map (data through 7 Oct 2026). Builds on 37 of its 46 references that are in the map. First posted on arXiv 4 Sep 2021.

Builds on

37 of 46 references.

References · 37

  1. 2016Layer Normalizationcited by 5,579
  2. 2019nuScenes: A multimodal dataset for autonomous drivingcited by 4,485
  3. 2019Objects as Pointscited by 1,172
  4. 2019Argoverse: 3D Tracking and Forecasting with Rich Mapscited by 728
  5. 2021Large Scale Interactive Motion Forecasting for Autonomous Driving : The Waymo Open Motion Datasetcited by 532
  6. 2020VectorNet: Encoding HD Maps and Agent Dynamics from Vectorized Representationcited by 528
  7. 2019MultiPath: Multiple Probabilistic Anchor Trajectory Hypotheses for Behavior Predictioncited by 417
  8. 2020Learning Lane Graph Representations for Motion Forecastingcited by 380
  9. 2020TNT: Target-driveN Trajectory Predictioncited by 345
  10. 2017DESIRE: Distant Future Prediction in Dynamic Scenes with Interacting Agentscited by 310
  11. 2018SoPhie: An Attentive GAN for Predicting Paths Compliant to Social and Physical Constraintscited by 296
  12. 2021DenseTNT: End-to-end Trajectory Prediction from Dense Goal Setscited by 292
25 more
  1. 2018Multimodal Trajectory Predictions for Autonomous Driving using Deep Convolutional Networkscited by 289
  2. 2019CoverNet: Multimodal Behavior Prediction using Trajectory Setscited by 259
  3. 2020It Is Not the Journey but the Destination: Endpoint Conditioned Trajectory Predictioncited by 235
  4. 2021Multimodal Motion Prediction with Stacked Transformerscited by 207
  5. 2019Multiple Futures Predictioncited by 178
  6. 2020From Goals, Waypoints & Paths To Long Term Human Trajectory Forecastingcited by 166
  7. 2021HOME: Heatmap Output for future Motion Estimationcited by 122
  8. 2021LaneRCNN: Distributed Representations for Graph-Centric Motion Forecastingcited by 112
  9. 2021TPCN: Temporal Point Cloud Networks for Motion Forecastingcited by 94
  10. 2019Multi-Head Attention for Multi-Modal Joint Vehicle Motion Forecastingcited by 87
  11. 2018An LSTM Network for Highway Trajectory Predictioncited by 81
  12. 2020What-If Motion Prediction for Autonomous Drivingcited by 80
  13. 2018Multi-Modal Trajectory Prediction of Surrounding Vehicles with Maneuver based LSTMscited by 77
  14. 2020Trajectory Forecasts in Unknown Environments Conditioned on Grid-Based Planscited by 72
  15. 2021LaPred: Lane-Aware Prediction of Multi-Modal Future Trajectories of Dynamic Agentscited by 64
  16. 2021Learning to Predict Vehicle Trajectories with Model-based Planningcited by 63
  17. 2021Stepwise Goal-Driven Networks for Trajectory Predictioncited by 62
  18. 2021Divide-and-Conquer for Lane-Aware Diverse Trajectory Predictioncited by 37
  19. 2021Imagining The Road Ahead: Multi-Agent Trajectory Prediction via Differentiable Simulationcited by 32
  20. 2020Map-Adaptive Goal-Based Trajectory Predictioncited by 29
  21. 2020Probabilistic Multi-modal Trajectory Prediction with Lane Attention for Autonomous Vehiclescited by 28
  22. 2020ReCoG: A Deep Learning Framework with Heterogeneous Graph for Interaction-Aware Trajectory Predictioncited by 20
  23. 2021Heterogeneous Edge-Enhanced Graph Attention Network For Multi-Agent Trajectory Predictioncited by 16
  24. 2020Trajectory Prediction for Autonomous Driving based on Multi-Head Attention with Joint Agent-Map Representationcited by 12
  25. 2021Asymmetrical Bi-RNN for pedestrian trajectory encodingcited by 6

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 4; 2022: 31; 2023: 52; 2024: 29; 2025: 20; 2026: 10.

146 papers.

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  1. 2022Motion Transformer with Global Intention Localization and Local Movement Refinementcited by 267
  2. 2021MultiPath++: Efficient Information Fusion and Trajectory Aggregation for Behavior Predictioncited by 246
  3. 2023MotionDiffuser: Controllable Multi-Agent Motion Prediction using Diffusioncited by 210
  4. 2023GameFormer: Game-theoretic Modeling and Learning of Transformer-based Interactive Prediction and Planning for Autonomous Drivingcited by 141
  5. 2023MTR++: Multi-Agent Motion Prediction with Symmetric Scene Modeling and Guided Intention Queryingcited by 139
  6. 2023LLM4Drive: A Survey of Large Language Models for Autonomous Drivingcited by 136
  7. 2023Leapfrog Diffusion Model for Stochastic Trajectory Predictioncited by 129
  8. 2022Imitation Is Not Enough: Robustifying Imitation with Reinforcement Learning for Challenging Driving Scenarioscited by 124
  9. 2023Vision Language Models in Autonomous Driving: A Survey and Outlookcited by 124
  10. 2022ViP3D: End-to-end Visual Trajectory Prediction via 3D Agent Queriescited by 116
  11. 2022HDGT: Heterogeneous Driving Graph Transformer for Multi-Agent Trajectory Prediction via Scene Encodingcited by 109
  12. 2021THOMAS: Trajectory Heatmap Output with learned Multi-Agent Samplingcited by 101
38 more
  1. 2022M2I: From Factored Marginal Trajectory Prediction to Interactive Predictioncited by 81
  2. 2022BITS: Bi-level Imitation for Traffic Simulationcited by 80
  3. 2023Forecast-MAE: Self-supervised Pre-training for Motion Forecasting with Masked Autoencoderscited by 72
  4. 2022GoRela: Go Relative for Viewpoint-Invariant Motion Forecastingcited by 68
  5. 2023LAformer: Trajectory Prediction for Autonomous Driving with Lane-Aware Scene Constraintscited by 50
  6. 2022GANet: Goal Area Network for Motion Forecastingcited by 49
  7. 2023ProphNet: Efficient Agent-Centric Motion Forecasting with Anchor-Informed Proposalscited by 47
  8. 2023Leveraging Future Relationship Reasoning for Vehicle Trajectory Predictioncited by 47
  9. 2023Traj-MAE: Masked Autoencoders for Trajectory Predictioncited by 42
  10. 2022FJMP: Factorized Joint Multi-Agent Motion Prediction over Learned Directed Acyclic Interaction Graphscited by 41
  11. 2022JFP: Joint Future Prediction with Interactive Multi-Agent Modeling for Autonomous Drivingcited by 40
  12. 2023ADAPT: Efficient Multi-Agent Trajectory Prediction with Adaptationcited by 39
  13. 2024HPNet: Dynamic Trajectory Forecasting with Historical Prediction Attentioncited by 37
  14. 2022Conditional Predictive Behavior Planning with Inverse Reinforcement Learning for Human-like Autonomous Drivingcited by 34
  15. 2023MacFormer: Map-Agent Coupled Transformer for Real-time and Robust Trajectory Predictioncited by 32
  16. 2024Producing and Leveraging Online Map Uncertainty in Trajectory Predictioncited by 32
  17. 2023Can you text what is happening? Integrating pre-trained language encoders into trajectory prediction models for autonomous drivingcited by 30
  18. 2023The Integration of Prediction and Planning in Deep Learning Automated Driving Systems: A Reviewcited by 29
  19. 2022Perceive, Interact, Predict: Learning Dynamic and Static Clues for End-to-End Motion Predictioncited by 28
  20. 2023Dynamic Scenario Representation Learning for Motion Forecasting with Heterogeneous Graph Convolutional Recurrent Networkscited by 27
  21. 2022PreTraM: Self-Supervised Pre-training via Connecting Trajectory and Mapcited by 25
  22. 2022GATraj: A Graph- and Attention-based Multi-Agent Trajectory Prediction Modelcited by 25
  23. 2022Augmenting Reinforcement Learning with Transformer-based Scene Representation Learning for Decision-making of Autonomous Drivingcited by 24
  24. 2022Bootstrap Motion Forecasting With Self-Consistent Constraintscited by 23
  25. 2022R-Pred: Two-Stage Motion Prediction Via Tube-Query Attention-Based Trajectory Refinementcited by 23
  26. 2021Trajectory Prediction with Graph-based Dual-scale Context Fusioncited by 19
  27. 2023DICE: Diverse Diffusion Model with Scoring for Trajectory Predictioncited by 18
  28. 2024VisionTrap: Vision-Augmented Trajectory Prediction Guided by Textual Descriptionscited by 18
  29. 2023What Truly Matters in Trajectory Prediction for Autonomous Driving?cited by 17
  30. 2023EDA: Evolving and Distinct Anchors for Multimodal Motion Predictioncited by 17
  31. 2023A Diffusion-Model of Joint Interactive Navigationcited by 16
  32. 2025Trajectory Prediction for Autonomous Driving: Progress, Limitations, and Future Directionscited by 14
  33. 2025Data Scaling Laws for End-to-End Autonomous Drivingcited by 14
  34. 2022Uncertainty estimation for Cross-dataset performance in Trajectory predictioncited by 13
  35. 2022Collaborative Uncertainty Benefits Multi-Agent Multi-Modal Trajectory Forecastingcited by 13
  36. 2025UniMM: A Unified Mixture Model Framework for Multi-Agent Simulationcited by 13
  37. 2022RAP: Risk-Aware Prediction for Robust Planningcited by 12
  38. 2023Context-Aware Timewise VAEs for Real-Time Vehicle Trajectory Predictioncited by 12

50 most cited of 146 All 146 (JSON)