mlsanityData to 14 Oct 2026

LAformer: Trajectory Prediction for Autonomous Driving with Lane-Aware Scene Constraints

arXiv 2302.13933 ↗First posted 27 Feb 2023cs.CVcited by 53

Not on the map. Why?

Abstract (arXiv)

Trajectory prediction for autonomous driving must continuously reason the motion stochasticity of road agents and comply with scene constraints. Existing methods typically rely on one-stage trajectory prediction models, which condition future trajectories on observed trajectories combined with fused scene information. However, they often struggle with complex scene constraints, such as those encountered at intersections. To this end, we present a novel method, called LAformer. It uses a temporally dense lane-aware estimation module to select only the top highly potential lane segments in an HD map, which effectively and continuously aligns motion dynamics with scene information, reducing the representation requirements for the subsequent attention-based decoder by filtering out irrelevant lane segments. Additionally, unlike one-stage prediction models, LAformer utilizes predictions from the first stage as anchor trajectories and adds a second-stage motion refinement module to further explore temporal consistency across the complete time horizon. Extensive experiments on Argoverse 1 and nuScenes demonstrate that LAformer achieves excellent performance for multimodal trajectory prediction.

Key facts. Cited by 53 papers in the map (data through 14 Oct 2026). Builds on 45 of its 61 references that are in the map. First posted on arXiv 27 Feb 2023.

Builds on

45 of 61 references.

References · 45

  1. 2017Attention Is All You Needcited by 60,361
  2. 2014Adam: A Method for Stochastic Optimizationcited by 37,240
  3. 2016Semi-Supervised Classification with Graph Convolutional Networkscited by 11,361
  4. 2022Generative Adversarial Networkscited by 5,627
  5. 2019nuScenes: A multimodal dataset for autonomous drivingcited by 4,523
  6. 2015Variational Inference with Normalizing Flowscited by 2,170
  7. 2019Argoverse: 3D Tracking and Forecasting with Rich Mapscited by 732
  8. 2018Social GAN: Socially Acceptable Trajectories with Generative Adversarial Networkscited by 690
  9. 2020VectorNet: Encoding HD Maps and Agent Dynamics from Vectorized Representationcited by 530
  10. 2014Semi-Supervised Learning with Deep Generative Modelscited by 496
  11. 2019MultiPath: Multiple Probabilistic Anchor Trajectory Hypotheses for Behavior Predictioncited by 420
  12. 2020Learning Lane Graph Representations for Motion Forecastingcited by 382
33 more
  1. 2020TNT: Target-driveN Trajectory Predictioncited by 347
  2. 2021AgentFormer: Agent-Aware Transformers for Socio-Temporal Multi-Agent Forecastingcited by 331
  3. 2017DESIRE: Distant Future Prediction in Dynamic Scenes with Interacting Agentscited by 310
  4. 2018SoPhie: An Attentive GAN for Predicting Paths Compliant to Social and Physical Constraintscited by 298
  5. 2021DenseTNT: End-to-end Trajectory Prediction from Dense Goal Setscited by 295
  6. 2019CoverNet: Multimodal Behavior Prediction using Trajectory Setscited by 259
  7. 2021MultiPath++: Efficient Information Fusion and Trajectory Aggregation for Behavior Predictioncited by 246
  8. 2018Convolutional Social Pooling for Vehicle Trajectory Predictioncited by 221
  9. 2020Spatio-Temporal Graph Transformer Networks for Pedestrian Trajectory Predictioncited by 218
  10. 2021Multimodal Motion Prediction with Stacked Transformerscited by 208
  11. 2019PRECOG: PREdiction Conditioned On Goals in Visual Multi-Agent Settingscited by 179
  12. 2021GOHOME: Graph-Oriented Heatmap Output for future Motion Estimationcited by 146
  13. 2021Latent Variable Sequential Set Transformers For Joint Multi-Agent Motion Predictioncited by 131
  14. 2021LaneRCNN: Distributed Representations for Graph-Centric Motion Forecastingcited by 113
  15. 2021Multimodal Trajectory Prediction Conditioned on Lane-Graph Traversalscited by 113
  16. 2019SR-LSTM: State Refinement for LSTM towards Pedestrian Trajectory Predictioncited by 111
  17. 2021THOMAS: Trajectory Heatmap Output with learned Multi-Agent Samplingcited by 101
  18. 2019Overcoming Limitations of Mixture Density Networks: A Sampling and Fitting Framework for Multimodal Future Predictioncited by 96
  19. 2021TPCN: Temporal Point Cloud Networks for Motion Forecastingcited by 94
  20. 2020PiP: Planning-informed Trajectory Prediction for Autonomous Drivingcited by 80
  21. 2020What-If Motion Prediction for Autonomous Drivingcited by 80
  22. 2021Multi-modal Motion Prediction with Transformer-based Neural Network for Autonomous Drivingcited by 73
  23. 2020Trajectory Forecasts in Unknown Environments Conditioned on Grid-Based Planscited by 72
  24. 2021LaPred: Lane-Aware Prediction of Multi-Modal Future Trajectories of Dynamic Agentscited by 64
  25. 2022ScePT: Scene-consistent, Policy-based Trajectory Predictions for Planningcited by 64
  26. 2018On GANs and GMMscited by 62
  27. 2021Stepwise Goal-Driven Networks for Trajectory Predictioncited by 62
  28. 2021Divide-and-Conquer for Lane-Aware Diverse Trajectory Predictioncited by 37
  29. 2020Probabilistic Multi-modal Trajectory Prediction with Lane Attention for Autonomous Vehiclescited by 28
  30. 2023The OpenCDA Open-source Ecosystem for Cooperative Driving Automation Researchcited by 27
  31. 2022Hierarchical Latent Structure for Multi-Modal Vehicle Trajectory Forecastingcited by 14
  32. 2020Trajectory Prediction for Autonomous Driving based on Multi-Head Attention with Joint Agent-Map Representationcited by 12
  33. 2022Aware of the History: Trajectory Forecasting with the Local Behavior Datacited by 9

Built on by

Cited by year (2026 to 14 Oct)

Citing papers per year: 2023: 6; 2024: 16; 2025: 19; 2026: 12.

53 papers.

Sort:

By area:

  1. 2023The Integration of Prediction and Planning in Deep Learning Automated Driving Systems: A Reviewcited by 29
  2. 2025MindDrive: A Vision-Language-Action Model for Autonomous Driving via Online Reinforcement Learningcited by 25
  3. 2026DriveVA: Video Action Models are Zero-Shot Driverscited by 23
  4. 2024VisionTrap: Vision-Augmented Trajectory Prediction Guided by Textual Descriptionscited by 19
  5. 2025Trajectory Mamba: Efficient Attention-Mamba Forecasting Model Based on Selective SSMcited by 18
  6. 2024NEST: A Neuromodulated Small-world Hypergraph Trajectory Prediction Model for Autonomous Drivingcited by 12
  7. 2024SemanticFormer: Holistic and Semantic Traffic Scene Representation for Trajectory Prediction using Knowledge Graphscited by 11
  8. 2025Multi-modal Knowledge Distillation-based Human Trajectory Forecastingcited by 10
  9. 2023nuScenes Knowledge Graph -- A comprehensive semantic representation of traffic scenes for trajectory predictioncited by 7
  10. 2023Mind the map! Accounting for existing map information when estimating online HDMaps from sensorcited by 6
  11. 2024Reviving Life on the Edge: Joint Score-Based Graph Generation of Rich Edge Attributescited by 6
  12. 2024Multi-Agent Trajectory Prediction with Difficulty-Guided Feature Enhancement Networkcited by 6
38 more
  1. 2024SocialFormer: Social Interaction Modeling with Edge-enhanced Heterogeneous Graph Transformers for Trajectory Predictioncited by 5
  2. 2024Stochasticity in Motion: An Information-Theoretic Approach to Trajectory Predictioncited by 5
  3. 20254DSTR: Advancing Generative 4D Gaussians with Spatial-Temporal Rectification for High-Quality and Consistent 4D Generationcited by 5
  4. 2024Motion Forecasting via Model-Based Risk Minimizationcited by 4
  5. 2025Learning Through Retrospection: Improving Trajectory Prediction for Automated Driving with Error Feedbackcited by 4
  6. 2025Beyond Patterns: Harnessing Causal Logic for Autonomous Driving Trajectory Predictioncited by 4
  7. 2025AMD: Adaptive Momentum and Decoupled Contrastive Learning Framework for Robust Long-Tail Trajectory Predictioncited by 4
  8. 2023Enhancing Mapless Trajectory Prediction through Knowledge Distillationcited by 3
  9. 2024Controllable Diverse Sampling for Diffusion Based Motion Behavior Forecastingcited by 3
  10. 2024Multi-scale Temporal Fusion Transformer for Incomplete Vehicle Trajectory Predictioncited by 3
  11. 2024Building Real-time Awareness of Out-of-distribution in Trajectory Prediction for Autonomous Vehiclescited by 3
  12. 2024CASPFormer: Trajectory Prediction from BEV Images with Deformable Attentioncited by 3
  13. 2023SIMMF: Semantics-aware Interactive Multiagent Motion Forecasting for Autonomous Vehicle Drivingcited by 2
  14. 2023An End-to-End Framework of Road User Detection, Tracking, and Prediction from Monocular Imagescited by 2
  15. 2024A Structure-Aware Lane Graph Transformer Model for Vehicle Trajectory Predictioncited by 2
  16. 2025DiffSemanticFusion: Semantic Raster BEV Fusion for Autonomous Driving via Online HD Map Diffusioncited by 2
  17. 2024Interpretable Interaction Modeling for Trajectory Prediction via Agent Selection and Physical Coefficientcited by 1
  18. 2024Map-Free Trajectory Prediction with Map Distillation and Hierarchical Encodingcited by 1
  19. 2025Post-interactive Multimodal Trajectory Prediction for Autonomous Drivingcited by 1
  20. 2025Learning Velocity and Acceleration: Self-Supervised Motion Consistency for Pedestrian Trajectory Predictioncited by 1
  21. 2025LMFormer: Lane based Motion Prediction Transformercited by 1
  22. 2025CaTFormer: Causal Temporal Transformer with Dynamic Contextual Fusion for Driving Intention Predictioncited by 1
  23. 2025Addressing Corner Cases in Autonomous Driving: A World Model-based Approach with Mixture of Experts and LLMscited by 1
  24. 2025Driving is a Game: Combining Planning and Prediction with Bayesian Iterative Best Responsecited by 1
  25. 2026HiMAP: History-aware Map-occupancy Prediction with Fallbackcited by 1
  26. 2024Traj-LLM: A New Exploration for Empowering Trajectory Prediction with Pre-trained Large Language Modelscited by 0
  27. 2025GC-GAT: Multimodal Vehicular Trajectory Prediction using Graph Goal Conditioning and Cross-context Attentioncited by 0
  28. 2025LTMSformer: A Local Trend-Aware Attention and Motion State Encoding Transformer for Multi-Agent Trajectory Predictioncited by 0
  29. 2025From Marginal to Joint Predictions: Evaluating Scene-Consistent Trajectory Prediction Approaches for Automated Drivingcited by 0
  30. 2025ILNet: Trajectory Prediction with Inverse Learning Attention for Enhancing Intention Capturecited by 0
  31. 2025Ensemble of Pre-Trained Models for Long-Tailed Trajectory Predictioncited by 0
  32. 2026SHARP: Short-Window Streaming for Accurate and Robust Prediction in Motion Forecastingcited by 0
  33. 2026Super Agents and Confounders: Influence of surrounding agents on vehicle trajectory predictioncited by 0
  34. 2026SAIL: Scene-aware Adaptive Iterative Learning for Long-Tail Trajectory Prediction in Autonomous Vehiclescited by 0
  35. 2026Chatting about Conditional Trajectory Predictioncited by 0
  36. 2026A Dynamic Scene Interaction Reasoning Framework for Scene-level Lane-Change Intention and Trajectory Prediction of Multiple Interacting Vehiclescited by 0
  37. 2026Pivot-Centric Trajectory Prediction: Bridging Long Horizons via Dynamical Guidancecited by 0
  38. 2026INTERACT: Interactive Planning for Autonomous Driving via Anchor-Conditioned Prediction and Trust-Region Refinementcited by 0

50 most cited of 53 All 53 (JSON)