mlsanityData to 7 Oct 2026

Risk-aware Trajectory Prediction by Incorporating Spatio-temporal Traffic Interaction Analysis

arXiv 2407.10639 ↗First posted 15 Jul 2024cs.RO cs.AI cs.CVcited by 3

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Abstract (arXiv)

To operate in open-ended environments where humans interact in complex, diverse ways, autonomous robots must learn to predict their behaviour, especially when that behavior is potentially dangerous to other agents or to the robot. However, reducing the risk of accidents requires prior knowledge of where potential collisions may occur and how. Therefore, we propose to gain this information by analyzing locations and speeds that commonly correspond to high-risk interactions within the dataset, and use it within training to generate better predictions in high risk situations. Through these location-based and speed-based re-weighting techniques, we achieve improved overall performance, as measured by most-likely FDE and KDE, as well as improved performance on high-speed vehicles, and vehicles within high-risk locations. 2023 IEEE International Conference on Robotics and Automation (ICRA)

Key facts. Cited by 3 papers in the map (data through 7 Oct 2026). Builds on 10 of its 29 references that are in the map. First posted on arXiv 15 Jul 2024.

Builds on

10 of 29 references.

References · 10

  1. 2019nuScenes: A multimodal dataset for autonomous drivingcited by 4,485
  2. 2018SoPhie: An Attentive GAN for Predicting Paths Compliant to Social and Physical Constraintscited by 296
  3. 2019Social-BiGAT: Multimodal Trajectory Forecasting using Bicycle-GAN and Graph Attention Networkscited by 228
  4. 2020From Goals, Waypoints & Paths To Long Term Human Trajectory Forecastingcited by 166
  5. 2019Multi-Agent Tensor Fusion for Contextual Trajectory Predictioncited by 131
  6. 2021View Vertically: A Hierarchical Network for Trajectory Prediction via Fourier Spectrumscited by 44
  7. 2020Trajectory Prediction in Autonomous Driving with a Lane Heading Auxiliary Losscited by 30
  8. 2022RAP: Risk-Aware Prediction for Robust Planningcited by 12
  9. 2018Intentions of Vulnerable Road Users - Detection and Forecasting by Means of Machine Learningcited by 8
  10. 2023A Data-Efficient Approach for Long-Term Human Motion Prediction Using Maps of Dynamicscited by 2

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2025: 1; 2026: 2.

3 papers.

  1. 2025AMD: Adaptive Momentum and Decoupled Contrastive Learning Framework for Robust Long-Tail Trajectory Predictioncited by 4
  2. 2026SAIL: Scene-aware Adaptive Iterative Learning for Long-Tail Trajectory Prediction in Autonomous Vehiclescited by 0
  3. 2026From Cues to Horizons: Dynamic Risk Horizon Profiling for Trajectory Predictioncited by 0