{"id":"https://openalex.org/W4401414766","doi":"https://doi.org/10.1109/icra57147.2024.10610154","title":"Improving Autonomous Driving Safety with POP: A Framework for Accurate Partially Observed Trajectory Predictions","display_name":"Improving Autonomous Driving Safety with POP: A Framework for Accurate Partially Observed Trajectory Predictions","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401414766","doi":"https://doi.org/10.1109/icra57147.2024.10610154"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10610154","doi":"https://doi.org/10.1109/icra57147.2024.10610154","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610154","pdf_url":null,"source":{"id":"https://openalex.org/S4210217939","display_name":"Proceedings - IEEE International Conference on Robotics and Automation/Proceedings","issn_l":"1050-4729","issn":["1050-4729","2577-087X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","norway-1"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","is_traditional":true,"indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2309.15685","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100371320","display_name":"Sheng Wang","orcid":"https://orcid.org/0000-0002-1906-1343","observed_orcids":["https://orcid.org/0000-0002-1906-1343"]},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Sheng Wang","raw_affiliation_strings":["The Hong Kong University of Science and Technology,Robotics and Autonomous Systems, Division of Emerging Interdisciplinary Areas (EMIA) Under Interdisciplinary Programs Office (IPO),Hong Kong SAR,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Hong Kong University of Science and Technology,Robotics and Autonomous Systems, Division of Emerging Interdisciplinary Areas (EMIA) Under Interdisciplinary Programs Office (IPO),Hong Kong SAR,China","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018045538","display_name":"Yingbing Chen","orcid":"https://orcid.org/0000-0003-2004-9816","observed_orcids":["https://orcid.org/0000-0003-2004-9816"]},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Yingbing Chen","raw_affiliation_strings":["The Hong Kong University of Science and Technology,Robotics and Autonomous Systems, Division of Emerging Interdisciplinary Areas (EMIA) Under Interdisciplinary Programs Office (IPO),Hong Kong SAR,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Hong Kong University of Science and Technology,Robotics and Autonomous Systems, Division of Emerging Interdisciplinary Areas (EMIA) Under Interdisciplinary Programs Office (IPO),Hong Kong SAR,China","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068760747","display_name":"Jie Cheng","orcid":"https://orcid.org/0000-0002-1507-0074","observed_orcids":["https://orcid.org/0000-0002-1507-0074"]},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Jie Cheng","raw_affiliation_strings":["The Hong Kong University of Science and Technology,Electronic and Computer Engineering,Hong Kong SAR,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Hong Kong University of Science and Technology,Electronic and Computer Engineering,Hong Kong SAR,China","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056459205","display_name":"Xiaodong Mei","orcid":"https://orcid.org/0000-0002-4687-6345","observed_orcids":["https://orcid.org/0000-0002-4687-6345"]},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Xiaodong Mei","raw_affiliation_strings":["The Hong Kong University of Science and Technology,Computer Science,Hong Kong SAR,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Hong Kong University of Science and Technology,Computer Science,Hong Kong SAR,China","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100656128","display_name":"Xin Ren","orcid":"https://orcid.org/0000-0002-9548-5076","observed_orcids":["https://orcid.org/0000-0002-9548-5076"]},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Ren Xin","raw_affiliation_strings":["The Hong Kong University of Science and Technology,Robotics and Autonomous Systems, Division of Emerging Interdisciplinary Areas (EMIA) Under Interdisciplinary Programs Office (IPO),Hong Kong SAR,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Hong Kong University of Science and Technology,Robotics and Autonomous Systems, Division of Emerging Interdisciplinary Areas (EMIA) Under Interdisciplinary Programs Office (IPO),Hong Kong SAR,China","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004492530","display_name":"Yongkang Song","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yongkang Song","raw_affiliation_strings":["Lotus Technology Ltd,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lotus Technology Ltd,China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100347785","display_name":"Ming Liu","orcid":"https://orcid.org/0000-0002-4500-238X","observed_orcids":["https://orcid.org/0000-0002-4500-238X"]},"institutions":[{"id":"https://openalex.org/I4405261251","display_name":"The Hong Kong University of Science and Technology (Guangzhou)","ror":"https://ror.org/050h0vm43","country_code":"CN","type":"education","lineage":["https://openalex.org/I4405261251"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ming Liu","raw_affiliation_strings":["The Hong Kong University of Science and Technology (Guangzhou),Robotics and Autonomous Systems Thrust,Guangzhou,China,511400"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Hong Kong University of Science and Technology (Guangzhou),Robotics and Autonomous Systems Thrust,Guangzhou,China,511400","institution_ids":["https://openalex.org/I4405261251"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.4993,"has_fulltext":true,"cited_by_count":9,"citation_normalized_percentile":{"value":0.94961512,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":88,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"14450","last_page":"14456"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9961000084877014,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9961000084877014,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10370","display_name":"Traffic and Road Safety","score":0.0007999999797903001,"subfield":{"id":"https://openalex.org/subfields/2213","display_name":"Safety, Risk, Reliability and Quality"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.00039999998989515007,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/autonomous-driving","display_name":"autonomous driving","score":0.8019999861717224},{"id":"https://openalex.org/keywords/trajectory-prediction","display_name":"trajectory prediction","score":0.9810000061988831},{"id":"https://openalex.org/keywords/self-supervised-learning","display_name":"self-supervised learning","score":0.8740000128746033},{"id":"https://openalex.org/keywords/feature-distillation","display_name":"feature distillation","score":0.9200000166893005},{"id":"https://openalex.org/keywords/knowledge-distillation","display_name":"knowledge distillation","score":0.8240000009536743},{"id":"https://openalex.org/keywords/urban-traffic","display_name":"urban traffic","score":0.5440000295639038},{"id":"https://openalex.org/keywords/closed-loop-simulation","display_name":"closed-loop simulation","score":0.6420000195503235},{"id":"https://openalex.org/keywords/driving-safety","display_name":"driving safety","score":0.7540000081062317}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.8147867918014526},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5841803550720215},{"id":"https://openalex.org/C2986542766","wikidata":"https://www.wikidata.org/wiki/Q2090494","display_name":"Vehicle safety","level":2,"score":0.4749586582183838},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.3597361743450165},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18068787455558777},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.16211652755737305},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/icra57147.2024.10610154","doi":"https://doi.org/10.1109/icra57147.2024.10610154","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610154","pdf_url":null,"source":{"id":"https://openalex.org/S4210217939","display_name":"Proceedings - IEEE International Conference on Robotics and Automation/Proceedings","issn_l":"1050-4729","issn":["1050-4729","2577-087X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","norway-1"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2309.15685","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2309.15685","pdf_url":"https://arxiv.org/pdf/2309.15685","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:repository.hkust.edu.hk:1783.1-142933","doi":null,"is_oa":false,"landing_page_url":"http://lbdiscover.ust.hk/uresolver?url_ver=Z39.88-2004&rft_val_fmt=info:ofi/fmt:kev:mtx:journal&rfr_id=info:sid/HKUST:SPI&rft.genre=article&rft.issn=1050-4729&rft.volume=&rft.issue=&rft.date=2024&rft.spage=14450&rft.aulast=Wang&rft.aufirst=Sheng&rft.atitle=Improving+Autonomous+Driving+Safety+with+POP%3A+A+Framework+for+Accurate+Partially+Observed+Trajectory+Predictions&rft.title=Proceedings+-+IEEE+International+Conference+on+Robotics+and+Automation","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Conference paper"},{"id":"doi:10.48550/arxiv.2309.15685","doi":"https://doi.org/10.48550/arxiv.2309.15685","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2309.15685","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2309.15685","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2309.15685","pdf_url":"https://arxiv.org/pdf/2309.15685","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.7250000238418579,"display_name":"Sustainable cities and communities"}],"study_designs":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320323537","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4401414766.pdf","grobid_xml":"https://content.openalex.org/works/W4401414766.grobid-xml"},"referenced_works_count":28,"referenced_works":["https://openalex.org/W1821462560","https://openalex.org/W2740508249","https://openalex.org/W2955189650","https://openalex.org/W2987861506","https://openalex.org/W3034792570","https://openalex.org/W3041400765","https://openalex.org/W3062588417","https://openalex.org/W3108486966","https://openalex.org/W3134210100","https://openalex.org/W3169575318","https://openalex.org/W4205902690","https://openalex.org/W4221156702","https://openalex.org/W4289644948","https://openalex.org/W4312321611","https://openalex.org/W4312731878","https://openalex.org/W4312804128","https://openalex.org/W4313178806","https://openalex.org/W4320409275","https://openalex.org/W4383109074","https://openalex.org/W4383109107","https://openalex.org/W4386071805","https://openalex.org/W4386076672","https://openalex.org/W4390871698","https://openalex.org/W4390872910","https://openalex.org/W4390873034","https://openalex.org/W4392843893","https://openalex.org/W6801880476","https://openalex.org/W7133213690"],"related_works":["https://openalex.org/W4406959427","https://openalex.org/W7134286278","https://openalex.org/W4401857417","https://openalex.org/W4385368163","https://openalex.org/W4308080785","https://openalex.org/W4403486932","https://openalex.org/W4401024870","https://openalex.org/W4401413740","https://openalex.org/W7135015173","https://openalex.org/W4214895168"],"abstract_inverted_index":{"Accurate":[0],"trajectory":[1,25,129],"prediction":[2,26],"is":[3],"crucial":[4],"for":[5,33],"safe":[6,128],"and":[7,48,64,106,127,133],"efficient":[8],"autonomous":[9],"driving,":[10],"but":[11],"handling":[12],"partial":[13],"observations":[14],"presents":[15],"significant":[16],"challenges.":[17],"To":[18],"address":[19],"this,":[20],"we":[21],"propose":[22],"a":[23],"novel":[24],"framework":[27,39],"called":[28],"Partial":[29],"Observations":[30],"Prediction":[31],"(POP)":[32],"congested":[34],"urban":[35],"road":[36],"scenarios.":[37],"The":[38],"consists":[40],"of":[41,122],"two":[42],"key":[43],"stages:":[44],"self-supervised":[45],"learning":[46],"(SSL)":[47],"feature":[49,67],"distillation.":[50],"POP":[51,96,123],"first":[52],"employs":[53],"SLL":[54],"to":[55,60,73,87,100],"help":[56],"the":[57,70,77,88,108,120],"model":[58],"learn":[59],"reconstruct":[61],"history":[62],"representations,":[63],"then":[65],"utilizes":[66],"distillation":[68],"as":[69],"fine-tuning":[71],"task":[72],"transfer":[74],"knowledge":[75],"from":[76],"teacher":[78],"model,":[79,90],"which":[80,91],"has":[81,92],"been":[82],"pre-trained":[83],"with":[84],"complete":[85],"observations,":[86],"student":[89],"only":[93],"few":[94],"observations.":[95],"achieves":[97],"comparable":[98],"results":[99,118],"topperforming":[101],"methods":[102],"in":[103,111,124],"open-loop":[104],"experiments":[105],"outperforms":[107],"baseline":[109],"method":[110],"closed-loop":[112],"simulations,":[113],"including":[114],"safety":[115],"metrics.":[116],"Qualitative":[117],"illustrate":[119],"superiority":[121],"providing":[125],"reasonable":[126],"predictions.":[130],"Demo":[131],"videos":[132],"code":[134],"are":[135],"available":[136],"at":[137],"https://chantsss.github.io/POP/.":[138]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":1}],"updated_date":"2026-11-05T12:25:35.769452","created_date":"2024-08-09T00:00:00"}