# EnvShip: A Unified Framework for Context-Aware and Cross-Region Vessel Trajectory Forecasting

arXiv: https://arxiv.org/abs/2606.15240 · HTML: https://mlsanity.com/paper/2606.15240/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 13 of its 52 references that are in the map.
- First posted on arXiv 13 Jun 2026.

## Builds on (most cited first, 13 of 13)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [nuScenes: A multimodal dataset for autonomous driving](https://mlsanity.com/paper/1903.11027/) (2019)
- [FiLM: Visual Reasoning with a General Conditioning Layer](https://mlsanity.com/paper/1709.07871/) (2017)
- [An Empirical Evaluation of Generic Convolutional and Recurrent Networks for Sequence Modeling](https://mlsanity.com/paper/1803.01271/) (2018)
- [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)
- [Social GAN: Socially Acceptable Trajectories with Generative Adversarial Networks](https://mlsanity.com/paper/1803.10892/) (2018)
- [AgentFormer: Agent-Aware Transformers for Socio-Temporal Multi-Agent Forecasting](https://mlsanity.com/paper/2103.14023/) (2021)
- [Social-STGCNN: A Social Spatio-Temporal Graph Convolutional Neural Network for Human Trajectory Prediction](https://mlsanity.com/paper/2002.11927/) (2020)
- [Transformer Networks for Trajectory Forecasting](https://mlsanity.com/paper/2003.08111/) (2020)
- [Deep Learning Methods for Vessel Trajectory Prediction based on Recurrent Neural Networks](https://mlsanity.com/paper/2101.02486/) (2021)
- [Multi-Modal Trajectory Prediction of NBA Players](https://mlsanity.com/paper/2008.07870/) (2020)
- [MSTFormer: Motion Inspired Spatial-temporal Transformer with Dynamic-aware Attention for long-term Vessel Trajectory Prediction](https://mlsanity.com/paper/2303.11540/) (2023)

## Built on by (most cited first, 1 of 1)

- [Protocol before progress: leakage-aware evaluation of AIS trajectory prediction](https://mlsanity.com/paper/2609.25827/) (2026)

## Abstract (arXiv)

Accurate vessel trajectory forecasting is essential for maritime situational awareness, navigation safety, traffic management, and autonomous navigation. Public Automatic Identification System (AIS) archives have enabled extensive research in this area, yet results remain difficult to compare because existing studies use incompatible preprocessing pipelines, forecasting horizons, data splits, coordinate systems, contextual inputs, and evaluation settings. We present EnvShip, a unified multi-region framework for context-aware and cross-region vessel trajectory forecasting. EnvShip applies a fixed and reproducible pipeline to public AIS data from Denmark, the United States, Greece, and Norway, and defines two standardized forecasting tracks spanning short- and long-horizon settings. From large-scale processed data, we curate 330{,}000 short-term and 106{,}857 long-horizon samples through strict motion screening, vessel-category and difficulty stratification, redundancy control, and vessel-disjoint splits. Each sample is aligned with environmental and neighboring-vessel context, together with weather and sea-state variables where available. We evaluate representative methods under in-domain and cross-region protocols, with analyses across prediction difficulty, scene type, and random seeds. Results show that environmental context provides the largest gains in coastline-constrained scenes, whereas neighboring-vessel context primarily benefits interaction-rich cases. Multi-region training improves generalization in most settings but introduces negative transfer for some source combinations. EnvShip provides a common and reproducible testbed for vessel trajectory forecasting. Code and data are publicly available at https://huggingface.co/datasets/mark000071/envship_v2_datasets.