mlsanityData to 7 Oct 2026

S2TNet: Spatio-Temporal Transformer Networks for Trajectory Prediction in Autonomous Driving

arXiv 2206.10902 ↗First posted 22 Jun 2022cs.CV cs.LG cs.ROcited by 22

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Abstract (arXiv)

To safely and rationally participate in dense and heterogeneous traffic, autonomous vehicles require to sufficiently analyze the motion patterns of surrounding traffic-agents and accurately predict their future trajectories. This is challenging because the trajectories of traffic-agents are not only influenced by the traffic-agents themselves but also by spatial interaction with each other. Previous methods usually rely on the sequential step-by-step processing of Long Short-Term Memory networks (LSTMs) and merely extract the interactions between spatial neighbors for single type traffic-agents. We propose the Spatio-Temporal Transformer Networks (S2TNet), which models the spatio-temporal interactions by spatio-temporal Transformer and deals with the temporel sequences by temporal Transformer. We input additional category, shape and heading information into our networks to handle the heterogeneity of traffic-agents. The proposed methods outperforms state-of-the-art methods on ApolloScape Trajectory dataset by more than 7% on both the weighted sum of Average and Final Displacement Error. Our code is available at https://github.com/chenghuang66/s2tnet.

Key facts. Cited by 22 papers in the map (data through 7 Oct 2026). Builds on 18 of its 26 references that are in the map. First posted on arXiv 22 Jun 2022.

Builds on

18 of 26 references.

References · 18

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  3. 2020End-to-End Object Detection with Transformerscited by 7,384
  4. 2016Xception: Deep Learning with Depthwise Separable Convolutionscited by 2,320
  5. 2018Social GAN: Socially Acceptable Trajectories with Generative Adversarial Networkscited by 687
  6. 2020Social-STGCNN: A Social Spatio-Temporal Graph Convolutional Neural Network for Human Trajectory Predictioncited by 324
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  10. 2020Spatio-Temporal Graph Transformer Networks for Pedestrian Trajectory Predictioncited by 218
  11. 2021Multimodal Motion Prediction with Stacked Transformerscited by 207
  12. 2020Transformer Networks for Trajectory Forecastingcited by 180
6 more
  1. 2018TrafficPredict: Trajectory Prediction for Heterogeneous Traffic-Agentscited by 111
  2. 2019SR-LSTM: State Refinement for LSTM towards Pedestrian Trajectory Predictioncited by 111
  3. 2018TraPHic: Trajectory Prediction in Dense and Heterogeneous Traffic Using Weighted Interactionscited by 82
  4. 2020TPNet: Trajectory Proposal Network for Motion Predictioncited by 80
  5. 2019GRIP++: Enhanced Graph-based Interaction-aware Trajectory Prediction for Autonomous Drivingcited by 73
  6. 2019StarNet: Pedestrian Trajectory Prediction using Deep Neural Network in Star Topologycited by 17

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2023: 5; 2024: 7; 2025: 8; 2026: 2.

22 papers.

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  1. 2024UniST: A Prompt-Empowered Universal Model for Urban Spatio-Temporal Predictioncited by 86
  2. 2023The Integration of Prediction and Planning in Deep Learning Automated Driving Systems: A Reviewcited by 29
  3. 2023Machine Learning for Autonomous Vehicle's Trajectory Prediction: A comprehensive survey, Challenges, and Future Research Directionscited by 23
  4. 2025Trajectory Prediction for Autonomous Driving: Progress, Limitations, and Future Directionscited by 14
  5. 2023Attention-aware Social Graph Transformer Networks for Stochastic Trajectory Predictioncited by 8
  6. 2024UniFlow: A Foundation Model for Unified Urban Spatio-Temporal Flow Predictioncited by 7
  7. 2024Pose2Trajectory: Using Transformers on Body Pose to Predict Tennis Player's Trajectorycited by 5
  8. 2025Beyond Patterns: Harnessing Causal Logic for Autonomous Driving Trajectory Predictioncited by 4
  9. 2025Beyond Frame-wise Tracking: A Trajectory-based Paradigm for Efficient Point Cloud Trackingcited by 4
  10. 2024FollowGen: A Scaled Noise Conditional Diffusion Model for Car-Following Trajectory Predictioncited by 3
  11. 2024Crossfusor: A Cross-Attention Transformer Enhanced Conditional Diffusion Model for Car-Following Trajectory Predictioncited by 2
  12. 2025ASTRA: A Scene-aware TRAnsformer-based model for trajectory predictioncited by 2
10 more
  1. 2025SafeCast: Risk-Responsive Motion Forecasting for Autonomous Vehiclescited by 2
  2. 2025Multi-modal Spatio-Temporal Transformer for High-resolution Land Subsidence Predictioncited by 2
  3. 2023SARN: Structurally-Aware Recurrent Network for Spatio-Temporal Disaggregationcited by 1
  4. 2023STF: Spatial Temporal Fusion for Trajectory Predictioncited by 1
  5. 2024Short-term Inland Vessel Trajectory Prediction with Encoder-Decoder Modelscited by 1
  6. 2024C2INet: Realizing Incremental Trajectory Prediction with Prior-Aware Continual Causal Interventioncited by 0
  7. 2025Collaborative Deterministic-Probabilistic Forecasting for Diverse Spatiotemporal Systemscited by 0
  8. 2025Towards Human-Like Trajectory Prediction for Autonomous Driving: A Behavior-Centric Approachcited by 0
  9. 2026Forecasting the Past: Gradient-Based Distribution Shift Detection in Trajectory Predictioncited by 0
  10. 2026Long-Term Prediction of Local and Global Human Motion with Occlusion Recoverycited by 0