mlsanityData to 7 Oct 2026

MTR-A: 1st Place Solution for 2022 Waymo Open Dataset Challenge -- Motion Prediction

arXiv 2209.10033 ↗First posted 20 Sep 2022cs.CVcited by 17

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Abstract (arXiv)

In this report, we present the 1st place solution for motion prediction track in 2022 Waymo Open Dataset Challenges. We propose a novel Motion Transformer framework for multimodal motion prediction, which introduces a small set of novel motion query pairs for generating better multimodal future trajectories by jointly performing the intention localization and iterative motion refinement. A simple model ensemble strategy with non-maximum-suppression is adopted to further boost the final performance. Our approach achieves the 1st place on the motion prediction leaderboard of 2022 Waymo Open Dataset Challenges, outperforming other methods with remarkable margins. Code will be available at https://github.com/sshaoshuai/MTR.

Key facts. Cited by 17 papers in the map (data through 7 Oct 2026). Builds on 12 of its 13 references that are in the map. First posted on arXiv 20 Sep 2022.

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12 of 13 references.

References · 12

  1. 2020End-to-End Object Detection with Transformerscited by 7,384
  2. 2016PointNet: Deep Learning on Point Sets for 3D Classification and Segmentationcited by 5,223
  3. 2021Large Scale Interactive Motion Forecasting for Autonomous Driving : The Waymo Open Motion Datasetcited by 532
  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. 2020Learning Lane Graph Representations for Motion Forecastingcited by 380
  7. 2020TNT: Target-driveN Trajectory Predictioncited by 345
  8. 2021DenseTNT: End-to-end Trajectory Prediction from Dense Goal Setscited by 292
  9. 2021MultiPath++: Efficient Information Fusion and Trajectory Aggregation for Behavior Predictioncited by 246
  10. 2021Multimodal Motion Prediction with Stacked Transformerscited by 207
  11. 2022HDGT: Heterogeneous Driving Graph Transformer for Multi-Agent Trajectory Prediction via Scene Encodingcited by 109
  12. 2021Identifying Driver Interactions via Conditional Behavior Predictioncited by 48

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2022: 1; 2023: 5; 2024: 3; 2025: 5; 2026: 3.

17 papers.

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  1. 2022Motion Transformer with Global Intention Localization and Local Movement Refinementcited by 267
  2. 2023The Waymo Open Sim Agents Challengecited by 86
  3. 2024SceneDiffuser: Efficient and Controllable Driving Simulation Initialization and Rolloutcited by 47
  4. 2024AMP: Autoregressive Motion Prediction Revisited with Next Token Prediction for Autonomous Drivingcited by 13
  5. 2023Categorical Traffic Transformer: Interpretable and Diverse Behavior Prediction with Tokenized Latentcited by 10
  6. 2024Towards Consistent and Explainable Motion Prediction using Heterogeneous Graph Attentioncited by 3
  7. 2023Collision Avoidance Detour for Multi-Agent Trajectory Forecastingcited by 2
  8. 2025Post-interactive Multimodal Trajectory Prediction for Autonomous Drivingcited by 1
  9. 2023The WayHome: Long-term Motion Prediction on Dynamically Scaledcited by 0
  10. 2023Pixel State Value Network for Combined Prediction and Planning in Interactive Environmentscited by 0
  11. 2025Beyond Features: How Dataset Design Influences Multi-Agent Trajectory Prediction Performancecited by 0
  12. 2025KoopCast: Trajectory Forecasting via Koopman Operatorscited by 0
5 more
  1. 2025Benchmarking Autonomous Driving Planners Across Leaderboards: A Unified CARLA-Based Evaluationcited by 0
  2. 2025From Camera-Based Sensing to Reasoning: A Comprehensive Review Toward Proactive Vulnerable Road User Safetycited by 0
  3. 2026Artificial Intelligence for Modeling and Simulation of Mixed Automated and Human Trafficcited by 0
  4. 2026Rethinking Training & Inference for Forecasting: Linking Winner-Take-All back to GMMscited by 0
  5. 2026Towards Metric-Agnostic Trajectory Forecastingcited by 0