mlsanityData to 14 Oct 2026

HOPE: Hierarchical Spatial-temporal Network for Occupancy Flow Prediction

arXiv 2206.10118 ↗First posted 21 Jun 2022cs.CVcited by 11

Not on the map. Why?

Abstract (arXiv)

In this report, we introduce our solution to the Occupancy and Flow Prediction challenge in the Waymo Open Dataset Challenges at CVPR 2022, which ranks 1st on the leaderboard. We have developed a novel hierarchical spatial-temporal network featured with spatial-temporal encoders, a multi-scale aggregator enriched with latent variables, and a recursive hierarchical 3D decoder. We use multiple losses including focal loss and modified flow trace loss to efficiently guide the training process. Our method achieves a Flow-Grounded Occupancy AUC of 0.8389 and outperforms all the other teams on the leaderboard.

Key facts. Cited by 11 papers in the map (data through 14 Oct 2026). Builds on 23 of its 31 references that are in the map. First posted on arXiv 21 Jun 2022.

Builds on

23 of 31 references.

References · 23

  1. 2021Swin Transformer: Hierarchical Vision Transformer using Shifted Windowscited by 12,139
  2. 2016SGDR: Stochastic Gradient Descent with Warm Restartscited by 5,045
  3. 2016DeepLab: Semantic Image Segmentation with Deep Convolutional Nets, Atrous Convolution, and Fully Connected CRFscited by 3,241
  4. 2019Scalability in Perception for Autonomous Driving: Waymo Open Datasetcited by 2,451
  5. 2015Convolutional LSTM Network: A Machine Learning Approach for Precipitation Nowcastingcited by 1,436
  6. 2021Swin Transformer V2: Scaling Up Capacity and Resolutioncited by 1,228
  7. 2018Averaging Weights Leads to Wider Optima and Better Generalizationcited by 1,209
  8. 2019EfficientDet: Scalable and Efficient Object Detectioncited by 1,020
  9. 2020Designing Network Design Spacescited by 960
  10. 2017Focal Loss for Dense Object Detectioncited by 752
  11. 2021Large Scale Interactive Motion Forecasting for Autonomous Driving : The Waymo Open Motion Datasetcited by 537
  12. 2020VectorNet: Encoding HD Maps and Agent Dynamics from Vectorized Representationcited by 530
11 more
  1. 2020TNT: Target-driveN Trajectory Predictioncited by 347
  2. 2021FIERY: Future Instance Prediction in Bird's-Eye View from Surround Monocular Camerascited by 239
  3. 2017Submanifold Sparse Convolutional Networkscited by 223
  4. 2015Delving Deeper into Convolutional Networks for Learning Video Representationscited by 148
  5. 2020A Review on Deep Learning Techniques for Video Predictioncited by 114
  6. 2021Multimodal Trajectory Prediction Conditioned on Lane-Graph Traversalscited by 113
  7. 2021AFDetV2: Rethinking the Necessity of the Second Stage for Object Detection from Point Cloudscited by 88
  8. 2022Occupancy Flow Fields for Motion Forecasting in Autonomous Drivingcited by 62
  9. 2020Probabilistic Future Prediction for Video Scene Understandingcited by 45
  10. 20201st Place Solution for Waymo Open Dataset Challenge -- 3D Detection and Domain Adaptationcited by 15
  11. 2019Learning a Spatio-Temporal Embedding for Video Instance Segmentationcited by 7

Built on by

Cited by year

Citing papers per year: 2022: 1; 2023: 4; 2024: 4; 2025: 2.

11 papers.

  1. 2023VAD: Vectorized Scene Representation for Efficient Autonomous Drivingcited by 622
  2. 2024Solving Motion Planning Tasks with a Scalable Generative Modelcited by 40
  3. 2023Grid-Centric Traffic Scenario Perception for Autonomous Driving: A Comprehensive Reviewcited by 25
  4. 2023Imitation with Spatial-Temporal Heatmap: 2nd Place Solution for NuPlan Challengecited by 19
  5. 2024Hybrid-Prediction Integrated Planning for Autonomous Drivingcited by 18
  6. 2022STrajNet: Multi-modal Hierarchical Transformer for Occupancy Flow Field Prediction in Autonomous Drivingcited by 8
  7. 2025CoC-VLA: Delving into Adversarial Domain Transfer for Explainable Autonomous Driving via Chain-of-Causality Visual-Language-Action Modelcited by 7
  8. 2024Dynamical system prediction from sparse observations using deep neural networks with Voronoi tessellation and physics constraintcited by 5
  9. 2024Learning Temporal Cues by Predicting Objects Move for Multi-camera 3D Object Detectioncited by 1
  10. 2023The WayHome: Long-term Motion Prediction on Dynamically Scaledcited by 0
  11. 2025CCLSTM: Coupled Convolutional Long-Short Term Memory Network for Occupancy Flow Forecastingcited by 0