mlsanityData to 7 Oct 2026

BANet: Motion Forecasting with Boundary Aware Network

arXiv 2206.07934 ↗First posted 16 Jun 2022cs.CV cs.ROcited by 10

Not on the map. Why?

Abstract (arXiv)

We propose a motion forecasting model called BANet, which means Boundary-Aware Network, and it is a variant of LaneGCN. We believe that it is not enough to use only the lane centerline as input to obtain the embedding features of the vector map nodes. The lane centerline can only provide the topology of the lanes, and other elements of the vector map also contain rich information. For example, the lane boundary can provide traffic rule constraint information such as whether it is possible to change lanes which is very important. Therefore, we achieved better performance by encoding more vector map elements in the motion forecasting model.We report our results on the 2022 Argoverse2 Motion Forecasting challenge and rank 1st on the test leaderboard.

Key facts. Cited by 10 papers in the map (data through 7 Oct 2026). Builds on 3 of its 7 references that are in the map. First posted on arXiv 16 Jun 2022.

Builds on

3 of 7 references.

References · 3

  1. 2016SGDR: Stochastic Gradient Descent with Warm Restartscited by 4,993
  2. 2019Argoverse: 3D Tracking and Forecasting with Rich Mapscited by 728
  3. 2020Learning Lane Graph Representations for Motion Forecastingcited by 380

Built on by

Cited by year

Citing papers per year: 2023: 5; 2024: 3; 2025: 2.

10 papers.

  1. 2023Argoverse 2: Next Generation Datasets for Self-Driving Perception and Forecastingcited by 701
  2. 2023Forecast-MAE: Self-supervised Pre-training for Motion Forecasting with Masked Autoencoderscited by 72
  3. 2023ProphNet: Efficient Agent-Centric Motion Forecasting with Anchor-Informed Proposalscited by 47
  4. 2023Dynamic Scenario Representation Learning for Motion Forecasting with Heterogeneous Graph Convolutional Recurrent Networkscited by 27
  5. 2024Motion Forecasting in Continuous Drivingcited by 11
  6. 2024Efficient Motion Prediction: A Lightweight & Accurate Trajectory Prediction Model With Fast Training and Inference Speedcited by 9
  7. 2023RESET: Revisiting Trajectory Sets for Conditional Behavior Predictioncited by 4
  8. 2024ProIn: Learning to Predict Trajectory Based on Progressive Interactions for Autonomous Drivingcited by 3
  9. 2025HAMF: A Hybrid Attention-Mamba Framework for Joint Scene Context Understanding and Future Motion Representation Learningcited by 2
  10. 2025LANet: A Lane Boundaries-Aware Approach For Robust Trajectory Predictioncited by 1