mlsanityData to 7 Oct 2026

Aware of the History: Trajectory Forecasting with the Local Behavior Data

arXiv 2207.09646 ↗First posted 20 Jul 2022cs.CVcited by 8

Not on the map. Why?

Abstract (arXiv)

The historical trajectories previously passing through a location may help infer the future trajectory of an agent currently at this location. Despite great improvements in trajectory forecasting with the guidance of high-definition maps, only a few works have explored such local historical information. In this work, we re-introduce this information as a new type of input data for trajectory forecasting systems: the local behavior data, which we conceptualize as a collection of location-specific historical trajectories. Local behavior data helps the systems emphasize the prediction locality and better understand the impact of static map objects on moving agents. We propose a novel local-behavior-aware (LBA) prediction framework that improves forecasting accuracy by fusing information from observed trajectories, HD maps, and local behavior data. Also, where such historical data is insufficient or unavailable, we employ a local-behavior-free (LBF) prediction framework, which adopts a knowledge-distillation-based architecture to infer the impact of missing data. Extensive experiments demonstrate that upgrading existing methods with these two frameworks significantly improves their performances. Especially, the LBA framework boosts the SOTA methods' performance on the nuScenes dataset by at least 14% for the K=1 metrics.

Key facts. Cited by 8 papers in the map (data through 7 Oct 2026). Builds on 35 of its 46 references that are in the map. First posted on arXiv 20 Jul 2022.

Builds on

35 of 46 references.

References · 35

  1. 2017Attention Is All You Needcited by 59,932
  2. 2015Deep Residual Learning for Image Recognitioncited by 51,809
  3. 2015Distilling the Knowledge in a Neural Networkcited by 10,076
  4. 2019nuScenes: A multimodal dataset for autonomous drivingcited by 4,485
  5. 2017PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Spacecited by 4,384
  6. 2019Argoverse: 3D Tracking and Forecasting with Rich Mapscited by 728
  7. 2020VectorNet: Encoding HD Maps and Agent Dynamics from Vectorized Representationcited by 528
  8. 2020Learning Lane Graph Representations for Motion Forecastingcited by 380
  9. 2020TNT: Target-driveN Trajectory Predictioncited by 345
  10. 2021DenseTNT: End-to-end Trajectory Prediction from Dense Goal Setscited by 292
  11. 2019Structured Knowledge Distillation for Dense Predictioncited by 277
  12. 2019CoverNet: Multimodal Behavior Prediction using Trajectory Setscited by 259
23 more
  1. 2020Spatio-Temporal Graph Transformer Networks for Pedestrian Trajectory Predictioncited by 218
  2. 2021Multimodal Motion Prediction with Stacked Transformerscited by 207
  3. 2021Learning Distilled Collaboration Graph for Multi-Agent Perceptioncited by 194
  4. 2021IntentNet: Learning to Predict Intention from Raw Sensor Datacited by 158
  5. 2021GOHOME: Graph-Oriented Heatmap Output for future Motion Estimationcited by 146
  6. 2022GroupNet: Multiscale Hypergraph Neural Networks for Trajectory Prediction with Relational Reasoningcited by 128
  7. 2021HOME: Heatmap Output for future Motion Estimationcited by 122
  8. 2021LaneRCNN: Distributed Representations for Graph-Centric Motion Forecastingcited by 112
  9. 2021Multimodal Trajectory Prediction Conditioned on Lane-Graph Traversalscited by 112
  10. 2019Knowledge Adaptation for Efficient Semantic Segmentationcited by 105
  11. 2021THOMAS: Trajectory Heatmap Output with learned Multi-Agent Samplingcited by 101
  12. 2021TPCN: Temporal Point Cloud Networks for Motion Forecastingcited by 94
  13. 2022Remember Intentions: Retrospective-Memory-based Trajectory Predictioncited by 86
  14. 2020Trajectory Forecasts in Unknown Environments Conditioned on Grid-Based Planscited by 72
  15. 2020MANTRA: Memory Augmented Networks for Multiple Trajectory Predictioncited by 69
  16. 2021Stepwise Goal-Driven Networks for Trajectory Predictioncited by 62
  17. 2017Probabilistic Vehicle Trajectory Prediction over Occupancy Grid Map via Recurrent Neural Networkcited by 56
  18. 2020Collaborative Motion Prediction via Neural Motion Message Passingcited by 55
  19. 2018PORCA: Modeling and Planning for Autonomous Driving among Many Pedestrianscited by 36
  20. 2019Relational Action Forecastingcited by 27
  21. 2019Stochastic Prediction of Multi-Agent Interactions from Partial Observationscited by 26
  22. 2021SCOUT: Socially-COnsistent and UndersTandable Graph Attention Network for Trajectory Prediction of Vehicles and VRUscited by 16
  23. 2018Convolutional Neural Network for Trajectory Predictioncited by 11

Built on by

Cited by year

Citing papers per year: 2023: 7; 2024: 1.

8 papers.

  1. 2023Leapfrog Diffusion Model for Stochastic Trajectory Predictioncited by 129
  2. 2023EqMotion: Equivariant Multi-agent Motion Prediction with Invariant Interaction Reasoningcited by 97
  3. 2023LAformer: Trajectory Prediction for Autonomous Driving with Lane-Aware Scene Constraintscited by 50
  4. 2023Unsupervised Sampling Promoting for Stochastic Human Trajectory Predictioncited by 17
  5. 2024CUQDS: Conformal Uncertainty Quantification under Distribution Shift for Trajectory Predictioncited by 5
  6. 2023DeFeeNet: Consecutive 3D Human Motion Prediction with Deviation Feedbackcited by 4
  7. 2023Enhancing Mapless Trajectory Prediction through Knowledge Distillationcited by 3
  8. 2023Interpretable Long Term Waypoint-Based Trajectory Prediction Modelcited by 1