mlsanityData to 7 Oct 2026

MPA: MultiPath++ Based Architecture for Motion Prediction

arXiv 2206.10041 ↗First posted 20 Jun 2022cs.CVcited by 13

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Abstract (arXiv)

Autonomous driving technology is developing rapidly and nowadays first autonomous rides are being provided in city areas. This requires the highest standards for the safety and reliability of the technology. Motion prediction part of the general self-driving pipeline plays a crucial role in providing these qualities. In this work we present one of the solutions for Waymo Motion Prediction Challenge 2022 based on MultiPath++ ranked the 3rd as of May, 26 2022. Our source code is publicly available on GitHub.

Key facts. Cited by 13 papers in the map (data through 7 Oct 2026). Builds on 17 of its 18 references that are in the map. First posted on arXiv 20 Jun 2022.

Builds on

17 of 18 references.

References · 17

  1. 2017Attention Is All You Needcited by 59,932
  2. 2014Adam: A Method for Stochastic Optimizationcited by 36,960
  3. 2019Scalability in Perception for Autonomous Driving: Waymo Open Datasetcited by 2,436
  4. 2020VectorNet: Encoding HD Maps and Agent Dynamics from Vectorized Representationcited by 528
  5. 2019MultiPath: Multiple Probabilistic Anchor Trajectory Hypotheses for Behavior Predictioncited by 417
  6. 2017DESIRE: Distant Future Prediction in Dynamic Scenes with Interacting Agentscited by 310
  7. 2021DenseTNT: End-to-end Trajectory Prediction from Dense Goal Setscited by 292
  8. 2018Multimodal Trajectory Predictions for Autonomous Driving using Deep Convolutional Networkscited by 289
  9. 2019CoverNet: Multimodal Behavior Prediction using Trajectory Setscited by 259
  10. 2021MultiPath++: Efficient Information Fusion and Trajectory Aggregation for Behavior Predictioncited by 246
  11. 2021Multimodal Motion Prediction with Stacked Transformerscited by 207
  12. 2019Rules of the Road: Predicting Driving Behavior with a Convolutional Model of Semantic Interactionscited by 117
5 more
  1. 2019Spatially-Aware Graph Neural Networks for Relational Behavior Forecasting from Sensor Datacited by 104
  2. 2020MotionNet: Joint Perception and Motion Prediction for Autonomous Driving Based on Bird's Eye View Mapscited by 100
  3. 2021Learning to Predict Vehicle Trajectories with Model-based Planningcited by 63
  4. 2022MotionCNN: A Strong Baseline for Motion Prediction in Autonomous Drivingcited by 21
  5. 2021HYPER: Learned Hybrid Trajectory Prediction via Factored Inference and Adaptive Samplingcited by 12

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Citing papers per year: 2022: 1; 2023: 7; 2024: 4; 2025: 1.

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  1. 2022Motion Transformer with Global Intention Localization and Local Movement Refinementcited by 267
  2. 2023MotionLM: Multi-Agent Motion Forecasting as Language Modelingcited by 154
  3. 2023GameFormer: Game-theoretic Modeling and Learning of Transformer-based Interactive Prediction and Planning for Autonomous Drivingcited by 141
  4. 2023Real-Time Motion Prediction via Heterogeneous Polyline Transformer with Relative Pose Encodingcited by 32
  5. 2024WOMD-Reasoning: A Large-Scale Dataset for Interaction Reasoning in Drivingcited by 19
  6. 2023Editing Driver Character: Socially-Controllable Behavior Generation for Interactive Traffic Simulationcited by 10
  7. 2024SemanticFormer: Holistic and Semantic Traffic Scene Representation for Trajectory Prediction using Knowledge Graphscited by 10
  8. 2024Words in Motion: Extracting Interpretable Control Vectors for Motion Transformerscited by 9
  9. 2024JointMotion: Joint Self-Supervision for Joint Motion Predictioncited by 7
  10. 2023RedMotion: Motion Prediction via Redundancy Reductioncited by 6
  11. 2025RetroMotion: Retrocausal Motion Forecasting Models are Instructablecited by 2
  12. 2023Robustness Benchmark of Road User Trajectory Prediction Models for Automated Drivingcited by 1
1 more
  1. 2023Interpretable Long Term Waypoint-Based Trajectory Prediction Modelcited by 1