mlsanityData to 7 Oct 2026

Transformer based trajectory prediction

arXiv 2112.04350 ↗First posted 8 Dec 2021cs.RO cs.CVcited by 5

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Abstract (arXiv)

To plan a safe and efficient route, an autonomous vehicle should anticipate future motions of other agents around it. Motion prediction is an extremely challenging task which recently gained significant attention of the research community. In this work, we present a simple and yet strong baseline for uncertainty aware motion prediction based purely on transformer neural networks, which has shown its effectiveness in conditions of domain change. While being easy-to-implement, the proposed approach achieves competitive performance and ranks 1st on the 2021 Shifts Vehicle Motion Prediction Competition.

Key facts. Cited by 5 papers in the map (data through 7 Oct 2026). Builds on 14 of its 18 references that are in the map. First posted on arXiv 8 Dec 2021.

Builds on

14 of 18 references.

References · 14

  1. 2017Attention Is All You Needcited by 59,932
  2. 2018BERT: Pre-training of Deep Bidirectional Transformers for Language Understandingcited by 40,204
  3. 2020An Image is Worth 16x16 Words: Transformers for Image Recognition at Scalecited by 29,915
  4. 2021Swin Transformer: Hierarchical Vision Transformer using Shifted Windowscited by 12,082
  5. 2018Social GAN: Socially Acceptable Trajectories with Generative Adversarial Networkscited by 687
  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. 2017DESIRE: Distant Future Prediction in Dynamic Scenes with Interacting Agentscited by 310
  10. 2021Shifts: A Dataset of Real Distributional Shift Across Multiple Large-Scale Taskscited by 100
  11. 2018Uncertainty-aware Short-term Motion Prediction of Traffic Actors for Autonomous Drivingcited by 90
  12. 2020TPNet: Trajectory Proposal Network for Motion Predictioncited by 80
2 more
  1. 2021CovarianceNet: Conditional Generative Model for Correct Covariance Prediction in Human Motion Predictioncited by 4
  2. 2020HSFM-Sigmann: Combining a Feedforward Motion Prediction Network and Covariance Predictioncited by 3

Built on by

Cited by year

Citing papers per year: 2022: 2; 2023: 2; 2024: 0; 2025: 1.

5 papers.

  1. 2023The Integration of Prediction and Planning in Deep Learning Automated Driving Systems: A Reviewcited by 29
  2. 2022Uncertainty estimation for Cross-dataset performance in Trajectory predictioncited by 13
  3. 2023Optimizing Ego Vehicle Trajectory Prediction: The Graph Enhancement Approachcited by 1
  4. 2022STPOTR: Simultaneous Human Trajectory and Pose Prediction Using a Non-Autoregressive Transformer for Robot Following Aheadcited by 0
  5. 2025Adaptive Multi-Mode Out-of-Distribution Detection for Trajectory Prediction in Autonomous Vehiclescited by 0