# JointMotion: Joint Self-Supervision for Joint Motion Prediction

arXiv: https://arxiv.org/abs/2403.05489 · HTML: https://mlsanity.com/paper/2403.05489/

## Key facts

- Cited by 7 papers in the map (data through 14 Oct 2026).
- Builds on 41 of its 42 references that are in the map.
- First posted on arXiv 8 Mar 2024.

## Builds on (most cited first, 30 of 41)

- [BERT: Pre-training of Deep Bidirectional Transformers for Language Understanding](https://mlsanity.com/paper/1810.04805/) (2018)
- [Learning Transferable Visual Models From Natural Language Supervision](https://mlsanity.com/paper/2103.00020/) (2021)
- [Language Models are Few-Shot Learners](https://mlsanity.com/paper/2005.14165/) (2020)
- [A Simple Framework for Contrastive Learning of Visual Representations](https://mlsanity.com/paper/2002.05709/) (2020)
- [Masked Autoencoders Are Scalable Vision Learners](https://mlsanity.com/paper/2111.06377/) (2021)
- [Emerging Properties in Self-Supervised Vision Transformers](https://mlsanity.com/paper/2104.14294/) (2021)
- [Bootstrap your own latent: A new approach to self-supervised Learning](https://mlsanity.com/paper/2006.07733/) (2020)
- [RoFormer: Enhanced Transformer with Rotary Position Embedding](https://mlsanity.com/paper/2104.09864/) (2021)
- [Longformer: The Long-Document Transformer](https://mlsanity.com/paper/2004.05150/) (2020)
- [Barlow Twins: Self-Supervised Learning via Redundancy Reduction](https://mlsanity.com/paper/2103.03230/) (2021)
- [Argoverse 2: Next Generation Datasets for Self-Driving Perception and Forecasting](https://mlsanity.com/paper/2301.00493/) (2023)
- [Large Scale Interactive Motion Forecasting for Autonomous Driving : The Waymo Open Motion Dataset](https://mlsanity.com/paper/2104.10133/) (2021)
- [Masked Autoencoders As Spatiotemporal Learners](https://mlsanity.com/paper/2205.09113/) (2022)
- [Rethinking Pre-training and Self-training](https://mlsanity.com/paper/2006.06882/) (2020)
- [Wayformer: Motion Forecasting via Simple & Efficient Attention Networks](https://mlsanity.com/paper/2207.05844/) (2022)
- [Motion Transformer with Global Intention Localization and Local Movement Refinement](https://mlsanity.com/paper/2209.13508/) (2022)
- [A Cookbook of Self-Supervised Learning](https://mlsanity.com/paper/2304.12210/) (2023)
- [MotionDiffuser: Controllable Multi-Agent Motion Prediction using Diffusion](https://mlsanity.com/paper/2306.03083/) (2023)
- [Scene Transformer: A unified architecture for predicting multiple agent trajectories](https://mlsanity.com/paper/2106.08417/) (2021)
- [MotionLM: Multi-Agent Motion Forecasting as Language Modeling](https://mlsanity.com/paper/2309.16534/) (2023)
- [Transformers without Tears: Improving the Normalization of Self-Attention](https://mlsanity.com/paper/1910.05895/) (2019)
- [GameFormer: Game-theoretic Modeling and Learning of Transformer-based Interactive Prediction and Planning for Autonomous Driving](https://mlsanity.com/paper/2303.05760/) (2023)
- [MTR++: Multi-Agent Motion Prediction with Symmetric Scene Modeling and Guided Intention Querying](https://mlsanity.com/paper/2306.17770/) (2023)
- [Implicit Latent Variable Model for Scene-Consistent Motion Forecasting](https://mlsanity.com/paper/2007.12036/) (2020)
- [THOMAS: Trajectory Heatmap Output with learned Multi-Agent Sampling](https://mlsanity.com/paper/2110.06607/) (2021)
- [M2I: From Factored Marginal Trajectory Prediction to Interactive Prediction](https://mlsanity.com/paper/2202.11884/) (2022)
- [Forecast-MAE: Self-supervised Pre-training for Motion Forecasting with Masked Autoencoders](https://mlsanity.com/paper/2308.09882/) (2023)
- [GoRela: Go Relative for Viewpoint-Invariant Motion Forecasting](https://mlsanity.com/paper/2211.02545/) (2022)
- [ProphNet: Efficient Agent-Centric Motion Forecasting with Anchor-Informed Proposals](https://mlsanity.com/paper/2303.12071/) (2023)
- [Traj-MAE: Masked Autoencoders for Trajectory Prediction](https://mlsanity.com/paper/2303.06697/) (2023)

## Built on by (most cited first, 7 of 7)

- [EMMA: End-to-End Multimodal Model for Autonomous Driving](https://mlsanity.com/paper/2410.23262/) (2024)
- [Motion Forecasting for Autonomous Vehicles: A Survey](https://mlsanity.com/paper/2502.08664/) (2025)
- [SceneMotion: From Agent-Centric Embeddings to Scene-Wide Forecasts](https://mlsanity.com/paper/2408.01537/) (2024)
- [Generative AI for Autonomous Driving: A Review](https://mlsanity.com/paper/2505.15863/) (2025)
- [RetroMotion: Retrocausal Motion Forecasting Models are Instructable](https://mlsanity.com/paper/2505.20414/) (2025)
- [Causality-Aware End-to-End Autonomous Driving via Ego-Centric Joint Scene Modeling](https://mlsanity.com/paper/2605.13646/) (2026)
- [Forecasting the Past: Gradient-Based Distribution Shift Detection in Trajectory Prediction](https://mlsanity.com/paper/2604.12425/) (2026)

## Abstract (arXiv)

We present JointMotion, a self-supervised pre-training method for joint motion prediction in self-driving vehicles. Our method jointly optimizes a scene-level objective connecting motion and environments, and an instance-level objective to refine learned representations. Scene-level representations are learned via non-contrastive similarity learning of past motion sequences and environment context. At the instance level, we use masked autoencoding to refine multimodal polyline representations. We complement this with an adaptive pre-training decoder that enables JointMotion to generalize across different environment representations, fusion mechanisms, and dataset characteristics. Notably, our method reduces the joint final displacement error of Wayformer, HPTR, and Scene Transformer models by 3%, 8%, and 12%, respectively; and enables transfer learning between the Waymo Open Motion and the Argoverse 2 Motion Forecasting datasets. Code: https://github.com/kit-mrt/future-motion