mlsanityData to 14 Oct 2026

CMP: Cooperative Motion Prediction with Multi-Agent Communication

arXiv 2403.17916 ↗First posted 26 Mar 2024cs.RO cs.AI cs.CVcited by 25

Not on the map. Why?

Abstract (arXiv)

The confluence of the advancement of Autonomous Vehicles (AVs) and the maturity of Vehicle-to-Everything (V2X) communication has enabled the capability of cooperative connected and automated vehicles (CAVs). Building on top of cooperative perception, this paper explores the feasibility and effectiveness of cooperative motion prediction. Our method, CMP, takes LiDAR signals as model input to enhance tracking and prediction capabilities. Unlike previous work that focuses separately on either cooperative perception or motion prediction, our framework, to the best of our knowledge, is the first to address the unified problem where CAVs share information in both perception and prediction modules. Incorporated into our design is the unique capability to tolerate realistic V2X transmission delays, while dealing with bulky perception representations. We also propose a prediction aggregation module, which unifies the predictions obtained by different CAVs and generates the final prediction. Through extensive experiments and ablation studies on the OPV2V and V2V4Real datasets, we demonstrate the effectiveness of our method in cooperative perception, tracking, and motion prediction. In particular, CMP reduces the average prediction error by 12.3% compared with the strongest baseline. Our work marks a significant step forward in the cooperative capabilities of CAVs, showcasing enhanced performance in complex scenarios. More details can be found on the project website: https://cmp-cooperative-prediction.github.io.

Key facts. Cited by 25 papers in the map (data through 14 Oct 2026). Builds on 29 of its 43 references that are in the map. First posted on arXiv 26 Mar 2024.

Builds on

29 of 43 references.

References · 29

  1. 2020An Image is Worth 16x16 Words: Transformers for Image Recognition at Scalecited by 30,186
  2. 2016PointNet: Deep Learning on Point Sets for 3D Classification and Segmentationcited by 5,248
  3. 2018PointPillars: Fast Encoders for Object Detection from Point Cloudscited by 1,715
  4. 2020VectorNet: Encoding HD Maps and Agent Dynamics from Vectorized Representationcited by 530
  5. 2022V2X-ViT: Vehicle-to-Everything Cooperative Perception with Vision Transformercited by 320
  6. 2021OPV2V: An Open Benchmark Dataset and Fusion Pipeline for Perception with Vehicle-to-Vehicle Communicationcited by 304
  7. 2021DenseTNT: End-to-end Trajectory Prediction from Dense Goal Setscited by 295
  8. 2020V2VNet: Vehicle-to-Vehicle Communication for Joint Perception and Predictioncited by 292
  9. 2022Motion Transformer with Global Intention Localization and Local Movement Refinementcited by 270
  10. 2021MultiPath++: Efficient Information Fusion and Trajectory Aggregation for Behavior Predictioncited by 246
  11. 2022CoBEVT: Cooperative Bird's Eye View Semantic Segmentation with Sparse Transformerscited by 227
  12. 2023V2V4Real: A Real-world Large-scale Dataset for Vehicle-to-Vehicle Cooperative Perceptioncited by 155
17 more
  1. 2023MTR++: Multi-Agent Motion Prediction with Symmetric Scene Modeling and Guided Intention Queryingcited by 140
  2. 2022COOPERNAUT: End-to-End Driving with Cooperative Perception for Networked Vehiclescited by 95
  3. 2022M2I: From Factored Marginal Trajectory Prediction to Interactive Predictioncited by 81
  4. 2023HM-ViT: Hetero-modal Vehicle-to-Vehicle Cooperative perception with vision transformercited by 70
  5. 2021LOKI: Long Term and Key Intentions for Trajectory Predictioncited by 57
  6. 2020Collaborative Motion Prediction via Neural Motion Message Passingcited by 55
  7. 2022Model-Agnostic Multi-Agent Perception Frameworkcited by 51
  8. 2021Spatio-Temporal Graph Dual-Attention Network for Multi-Agent Prediction and Trackingcited by 35
  9. 2020Shared Cross-Modal Trajectory Prediction for Autonomous Drivingcited by 31
  10. 2022Adaptive Feature Fusion for Cooperative Perception using LiDAR Point Cloudscited by 29
  11. 2021AutoCast: Scalable Infrastructure-less Cooperative Perception for Distributed Collaborative Drivingcited by 26
  12. 2023Learning Cooperative Trajectory Representations for Motion Forecastingcited by 21
  13. 2022Dynamics-Aware Spatiotemporal Occupancy Prediction in Urban Environmentscited by 17
  14. 2023Scene Informer: Anchor-based Occlusion Inference and Trajectory Prediction in Partially Observable Environmentscited by 14
  15. 2023EqDrive: Efficient Equivariant Motion Forecasting with Multi-Modality for Autonomous Drivingcited by 7
  16. 2024Disentangled Neural Relational Inference for Interpretable Motion Predictioncited by 7
  17. 2023Equivariant Map and Agent Geometry for Autonomous Driving Motion Predictioncited by 6

Built on by

Cited by year (2026 to 14 Oct)

Citing papers per year: 2024: 5; 2025: 15; 2026: 5.

25 papers.

Sort:

By area:

  1. 2024V2XPnP: Vehicle-to-Everything Spatio-Temporal Fusion for Multi-Agent Perception and Predictioncited by 31
  2. 2025UniOcc: A Unified Benchmark for Occupancy Forecasting and Prediction in Autonomous Drivingcited by 28
  3. 2025SAFEFLOW: A Principled Protocol for Trustworthy and Transactional Autonomous Agent Systemscited by 25
  4. 2025Co-MTP: A Cooperative Trajectory Prediction Framework with Multi-Temporal Fusion for Autonomous Drivingcited by 14
  5. 2024Drones Help Drones: A Collaborative Framework for Multi-Drone Object Trajectory Prediction and Beyondcited by 12
  6. 2024CooPre: Cooperative Pretraining for V2X Cooperative Perceptioncited by 11
  7. 2025QuantV2X: A Fully Quantized Multi-Agent System for Cooperative Perceptioncited by 11
  8. 2025TurboTrain: Towards Efficient and Balanced Multi-Task Learning for Multi-Agent Perception and Predictioncited by 9
  9. 2024UVCPNet: A UAV-Vehicle Collaborative Perception Network for 3D Object Detectioncited by 7
  10. 2024Adaptive Prediction Ensemble: Improving Out-of-Distribution Generalization of Motion Forecastingcited by 7
  11. 2025CoopReflect: Towards Natural Language Communication for Cooperative Autonomous Driving via Multi-Agent Learningcited by 7
  12. 2025Towards Generalizable Safety in Crowd Navigation via Conformal Uncertainty Handlingcited by 6
13 more
  1. 2025M3CAD: Towards Generic Cooperative Autonomous Driving Benchmarkcited by 5
  2. 2025TrajEvo: Trajectory Prediction Heuristics Design via LLM-driven Evolutioncited by 5
  3. 2025Risk Map As Middleware: Towards Interpretable Cooperative End-to-end Autonomous Driving for Risk-Aware Planningcited by 5
  4. 2025SEAL: Vision-Language Model-Based Safe End-to-End Cooperative Autonomous Driving with Adaptive Long-Tail Modelingcited by 3
  5. 2025RDD: Retrieval-Based Demonstration Decomposer for Planner Alignment in Long-Horizon Taskscited by 3
  6. 2026Priority-Aware Multi-Robot Coverage Path Planningcited by 2
  7. 2026COOPERTRIM: Adaptive Data Selection for Uncertainty-Aware Cooperative Perceptioncited by 2
  8. 2025Anomaly Detection in Cooperative Vehicle Perception Systems under Imperfect Communicationcited by 0
  9. 2025A Survey on Deep Multi-Task Learning in Connected Autonomous Vehiclescited by 0
  10. 2025CoPAD : Multi-source Trajectory Fusion and Cooperative Trajectory Prediction with Anchor-oriented Decoder in V2X Scenarioscited by 0
  11. 2026Bandwidth-adaptive Cloud-Assisted 360-Degree 3D Perception for Autonomous Vehiclescited by 0
  12. 2026CooperDrive: Enhancing Driving Decisions Through Cooperative Perceptioncited by 0
  13. 2026CooperScene: Multi-Modal Cooperative Autonomy Benchmark with C-V2X Communication Characterizationcited by 0