mlsanityData to 7 Oct 2026

Heterogeneous Trajectory Forecasting via Risk and Scene Graph Learning

arXiv 2211.00848 ↗First posted 2 Nov 2022cs.CV cs.AIcited by 11

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Abstract (arXiv)

Heterogeneous trajectory forecasting is critical for intelligent transportation systems, but it is challenging because of the difficulty of modeling the complex interaction relations among the heterogeneous road agents as well as their agent-environment constraints. In this work, we propose a risk and scene graph learning method for trajectory forecasting of heterogeneous road agents, which consists of a Heterogeneous Risk Graph (HRG) and a Hierarchical Scene Graph (HSG) from the aspects of agent category and their movable semantic regions. HRG groups each kind of road agent and calculates their interaction adjacency matrix based on an effective collision risk metric. HSG of the driving scene is modeled by inferring the relationship between road agents and road semantic layout aligned by the road scene grammar. Based on this formulation, we can obtain effective trajectory forecasting in driving situations, and superior performance to other state-of-the-art approaches is demonstrated by exhaustive experiments on the nuScenes, ApolloScape, and Argoverse datasets.

Key facts. Cited by 11 papers in the map (data through 7 Oct 2026). Builds on 51 of its 81 references that are in the map. First posted on arXiv 2 Nov 2022.

Builds on

51 of 81 references.

References · 51

  1. 2019nuScenes: A multimodal dataset for autonomous drivingcited by 4,485
  2. 2015Delving Deep into Rectifiers: Surpassing Human-Level Performance on ImageNet Classificationcited by 3,590
  3. 2019Scalability in Perception for Autonomous Driving: Waymo Open Datasetcited by 2,436
  4. 2019Argoverse: 3D Tracking and Forecasting with Rich Mapscited by 728
  5. 2018Social GAN: Socially Acceptable Trajectories with Generative Adversarial Networkscited by 687
  6. 2020VectorNet: Encoding HD Maps and Agent Dynamics from Vectorized Representationcited by 528
  7. 2019MultiPath: Multiple Probabilistic Anchor Trajectory Hypotheses for Behavior Predictioncited by 417
  8. 2020Unbiased Scene Graph Generation from Biased Trainingcited by 355
  9. 2021AgentFormer: Agent-Aware Transformers for Socio-Temporal Multi-Agent Forecastingcited by 327
  10. 2020Social-STGCNN: A Social Spatio-Temporal Graph Convolutional Neural Network for Human Trajectory Predictioncited by 324
  11. 2017DESIRE: Distant Future Prediction in Dynamic Scenes with Interacting Agentscited by 310
  12. 2019CoverNet: Multimodal Behavior Prediction using Trajectory Setscited by 259
38 more
  1. 2021MultiPath++: Efficient Information Fusion and Trajectory Aggregation for Behavior Predictioncited by 246
  2. 2019Social-BiGAT: Multimodal Trajectory Forecasting using Bicycle-GAN and Graph Attention Networkscited by 228
  3. 2020Spatio-Temporal Graph Transformer Networks for Pedestrian Trajectory Predictioncited by 218
  4. 2018The ApolloScape Open Dataset for Autonomous Driving and its Applicationcited by 188
  5. 2017Social Attention: Modeling Attention in Human Crowdscited by 185
  6. 2020Transformer Networks for Trajectory Forecastingcited by 180
  7. 2019Multiple Futures Predictioncited by 178
  8. 2021GOHOME: Graph-Oriented Heatmap Output for future Motion Estimationcited by 146
  9. 2019Multi-Agent Tensor Fusion for Contextual Trajectory Predictioncited by 131
  10. 2021Latent Variable Sequential Set Transformers For Joint Multi-Agent Motion Predictioncited by 131
  11. 2019Meta-Sim: Learning to Generate Synthetic Datasetscited by 128
  12. 2018TrafficPredict: Trajectory Prediction for Heterogeneous Traffic-Agentscited by 111
  13. 2019SR-LSTM: State Refinement for LSTM towards Pedestrian Trajectory Predictioncited by 111
  14. 2018Structured Domain Randomization: Bridging the Reality Gap by Context-Aware Synthetic Datacited by 94
  15. 2018TraPHic: Trajectory Prediction in Dense and Heterogeneous Traffic Using Weighted Interactionscited by 82
  16. 2020TPNet: Trajectory Proposal Network for Motion Predictioncited by 80
  17. 2019GRIP++: Enhanced Graph-based Interaction-aware Trajectory Prediction for Autonomous Drivingcited by 73
  18. 2020Diverse and Admissible Trajectory Forecasting through Multimodal Context Understandingcited by 68
  19. 2021LaPred: Lane-Aware Prediction of Multi-Modal Future Trajectories of Dynamic Agentscited by 64
  20. 2022Video Graph Transformer for Video Question Answeringcited by 63
  21. 2021Stepwise Goal-Driven Networks for Trajectory Predictioncited by 62
  22. 2020Meta-Sim2: Unsupervised Learning of Scene Structure for Synthetic Data Generationcited by 58
  23. 2021LOKI: Long Term and Key Intentions for Trajectory Predictioncited by 57
  24. 2022Adaptive Trajectory Prediction via Transferable GNNcited by 51
  25. 2021Divide-and-Conquer for Lane-Aware Diverse Trajectory Predictioncited by 37
  26. 2021Graph-Based Spatial-Temporal Convolutional Network for Vehicle Trajectory Prediction in Autonomous Drivingcited by 36
  27. 2022Behavioral Intention Prediction in Driving Scenes: A Surveycited by 30
  28. 2021Congestion-aware Multi-agent Trajectory Prediction for Collision Avoidancecited by 21
  29. 2021Heterogeneous-Agent Trajectory Forecasting Incorporating Class Uncertaintycited by 19
  30. 2019StarNet: Pedestrian Trajectory Prediction using Deep Neural Network in Star Topologycited by 17
  31. 2021Unlimited Neighborhood Interaction for Heterogeneous Trajectory Predictioncited by 17
  32. 2021Collaborative Uncertainty in Multi-Agent Trajectory Forecastingcited by 17
  33. 2020Multi-agent Trajectory Prediction with Fuzzy Query Attentioncited by 16
  34. 2021Euro-PVI: Pedestrian Vehicle Interactions in Dense Urban Centerscited by 16
  35. 2021roadscene2vec: A Tool for Extracting and Embedding Road Scene-Graphscited by 15
  36. 2021Maneuver-based Trajectory Prediction for Self-driving Cars Using Spatio-temporal Convolutional Networkscited by 14
  37. 2022D2-TPred: Discontinuous Dependency for Trajectory Prediction under Traffic Lightscited by 10
  38. 2020Scene Gated Social Graph: Pedestrian Trajectory Prediction Based on Dynamic Social Graphs and Scene Constraintscited by 6

50 most cited of 51 All 51 (JSON)

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2022: 1; 2023: 2; 2024: 1; 2025: 6; 2026: 1.

11 papers.

  1. 2023Graph-based Topology Reasoning for Driving Scenescited by 53
  2. 2024LightTR: A Lightweight Framework for Federated Trajectory Recoverycited by 19
  3. 2022Cognitive Accident Prediction in Driving Scenes: A Multimodality Benchmarkcited by 16
  4. 2025Trajectory Prediction for Autonomous Driving: Progress, Limitations, and Future Directionscited by 14
  5. 2023EPG-MGCN: Ego-Planning Guided Multi-Graph Convolutional Network for Heterogeneous Agent Trajectory Predictioncited by 10
  6. 2025BP-SGCN: Behavioral Pseudo-Label Informed Sparse Graph Convolution Network for Pedestrian and Heterogeneous Trajectory Predictioncited by 9
  7. 2025ParkDiffusion: Heterogeneous Multi-Agent Multi-Modal Trajectory Prediction for Automated Parking using Diffusion Modelscited by 5
  8. 2025STRAP: Spatial-Temporal Risk-Attentive Vehicle Trajectory Prediction for Autonomous Drivingcited by 1
  9. 2025Semi-decentralized Federated Time Series Prediction with Client Availability Budgetscited by 0
  10. 2025Trajectory prediction for heterogeneous agents: A performance analysis on small and imbalanced datasetscited by 0
  11. 2026From Cues to Horizons: Dynamic Risk Horizon Profiling for Trajectory Predictioncited by 0