# Exploring Navigation Maps for Learning-Based Motion Prediction

arXiv: https://arxiv.org/abs/2302.06195 · HTML: https://mlsanity.com/paper/2302.06195/

## Key facts

- Cited by 5 papers in the map (data through 14 Oct 2026).
- Placed in Multimodal distillation, one of 12 directions in Knowledge distillation.
- Builds on 24 of its 36 references that are in the map.
- First posted on arXiv 13 Feb 2023.

## Placed in

- Knowledge distillation / [Multimodal distillation](https://mlsanity.com/distill/multimodal-distillation/)

## Builds on (most cited first, 24 of 24)

- [Distilling the Knowledge in a Neural Network](https://mlsanity.com/paper/1503.02531/) (2015)
- [Argoverse: 3D Tracking and Forecasting with Rich Maps](https://mlsanity.com/paper/1911.02620/) (2019)
- [Argoverse 2: Next Generation Datasets for Self-Driving Perception and Forecasting](https://mlsanity.com/paper/2301.00493/) (2023)
- [Born Again Neural Networks](https://mlsanity.com/paper/1805.04770/) (2018)
- [Large Scale Interactive Motion Forecasting for Autonomous Driving : The Waymo Open Motion Dataset](https://mlsanity.com/paper/2104.10133/) (2021)
- [VectorNet: Encoding HD Maps and Agent Dynamics from Vectorized Representation](https://mlsanity.com/paper/2005.04259/) (2020)
- [MultiPath: Multiple Probabilistic Anchor Trajectory Hypotheses for Behavior Prediction](https://mlsanity.com/paper/1910.05449/) (2019)
- [Learning Lane Graph Representations for Motion Forecasting](https://mlsanity.com/paper/2007.13732/) (2020)
- [Multimodal Trajectory Predictions for Autonomous Driving using Deep Convolutional Networks](https://mlsanity.com/paper/1809.10732/) (2018)
- [CoverNet: Multimodal Behavior Prediction using Trajectory Sets](https://mlsanity.com/paper/1911.10298/) (2019)
- [GOHOME: Graph-Oriented Heatmap Output for future Motion Estimation](https://mlsanity.com/paper/2109.01827/) (2021)
- [HOME: Heatmap Output for future Motion Estimation](https://mlsanity.com/paper/2105.10968/) (2021)
- [LaneRCNN: Distributed Representations for Graph-Centric Motion Forecasting](https://mlsanity.com/paper/2101.06653/) (2021)
- [Uncertainty-aware Short-term Motion Prediction of Traffic Actors for Autonomous Driving](https://mlsanity.com/paper/1808.05819/) (2018)
- [DAGMapper: Learning to Map by Discovering Lane Topology](https://mlsanity.com/paper/2012.12377/) (2020)
- [HDMapGen: A Hierarchical Graph Generative Model of High Definition Maps](https://mlsanity.com/paper/2106.14880/) (2021)
- [How many Observations are Enough? Knowledge Distillation for Trajectory Forecasting](https://mlsanity.com/paper/2203.04781/) (2022)
- [Robust Re-Identification by Multiple Views Knowledge Distillation](https://mlsanity.com/paper/2007.04174/) (2020)
- [PredictionNet: Real-Time Joint Probabilistic Traffic Prediction for Planning, Control, and Simulation](https://mlsanity.com/paper/2109.11094/) (2021)
- [Efficient Video Classification Using Fewer Frames](https://mlsanity.com/paper/1902.10640/) (2019)
- [CRAT-Pred: Vehicle Trajectory Prediction with Crystal Graph Convolutional Neural Networks and Multi-Head Self-Attention](https://mlsanity.com/paper/2202.04488/) (2022)
- [SCENE: Reasoning about Traffic Scenes using Heterogeneous Graph Neural Networks](https://mlsanity.com/paper/2301.03512/) (2023)
- [Automatic Construction of Lane-level HD Maps for Urban Scenes](https://mlsanity.com/paper/2107.10972/) (2021)
- [Trajectory Prediction for Autonomous Driving with Topometric Map](https://mlsanity.com/paper/2105.03869/) (2021)

## Built on by (most cited first, 5 of 5)

- [SemVecNet: Generalizable Vector Map Generation for Arbitrary Sensor Configurations](https://mlsanity.com/paper/2405.00250/) (2024)
- [PriorDrive: Enhancing Online HD Mapping with Unified Vector Priors](https://mlsanity.com/paper/2409.05352/) (2024)
- [OSM vs HD Maps: Map Representations for Trajectory Prediction](https://mlsanity.com/paper/2311.02305/) (2023)
- [NavMapFusion: Diffusion-based Fusion of Navigation Maps for Online Vectorized HD Map Construction](https://mlsanity.com/paper/2512.03317/) (2025)
- [SD-RouteFusion: Ego-Trajectory Prediction with SD-Map Route Conditioning](https://mlsanity.com/paper/2607.01139/) (2026)

## Abstract (arXiv)

The prediction of surrounding agents' motion is a key for safe autonomous driving. In this paper, we explore navigation maps as an alternative to the predominant High Definition (HD) maps for learning-based motion prediction. Navigation maps provide topological and geometrical information on road-level, HD maps additionally have centimeter-accurate lane-level information. As a result, HD maps are costly and time-consuming to obtain, while navigation maps with near-global coverage are freely available. We describe an approach to integrate navigation maps into learning-based motion prediction models. To exploit locally available HD maps during training, we additionally propose a model-agnostic method for knowledge distillation. In experiments on the publicly available Argoverse dataset with navigation maps obtained from OpenStreetMap, our approach shows a significant improvement over not using a map at all. Combined with our method for knowledge distillation, we achieve results that are close to the original HD map-reliant models. Our publicly available navigation map API for Argoverse enables researchers to develop and evaluate their own approaches using navigation maps.