{"id":"https://openalex.org/W2993977494","doi":"https://doi.org/10.1109/icra40945.2020.9197340","title":"Multi-Head Attention for Multi-Modal Joint Vehicle Motion Forecasting","display_name":"Multi-Head Attention for Multi-Modal Joint Vehicle Motion Forecasting","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W2993977494","doi":"https://doi.org/10.1109/icra40945.2020.9197340","mag":"2993977494"},"language":"en","primary_location":{"id":"doi:10.1109/icra40945.2020.9197340","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197340","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1910.03650","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5027682530","display_name":"Jean Mercat","orcid":null},"institutions":[{"id":"https://openalex.org/I1301102746","display_name":"Renault (France)","ror":"https://ror.org/04v98kq37","country_code":"FR","type":"company","lineage":["https://openalex.org/I1301102746"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Jean Mercat","raw_affiliation_strings":["Department of data fusion, Technocentre Renault, France","Technocentre Renault,Department of data fusion,France,78280"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of data fusion, Technocentre Renault, France","institution_ids":["https://openalex.org/I1301102746"]},{"raw_affiliation_string":"Technocentre Renault,Department of data fusion,France,78280","institution_ids":["https://openalex.org/I1301102746"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026727213","display_name":"Thomas Gilles","orcid":"https://orcid.org/0000-0002-5840-1216"},"institutions":[{"id":"https://openalex.org/I1301102746","display_name":"Renault (France)","ror":"https://ror.org/04v98kq37","country_code":"FR","type":"company","lineage":["https://openalex.org/I1301102746"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Thomas Gilles","raw_affiliation_strings":["Department of data fusion, Technocentre Renault, France","Technocentre Renault,Department of data fusion,France,78280"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of data fusion, Technocentre Renault, France","institution_ids":["https://openalex.org/I1301102746"]},{"raw_affiliation_string":"Technocentre Renault,Department of data fusion,France,78280","institution_ids":["https://openalex.org/I1301102746"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021124699","display_name":"Nicole El Zoghby","orcid":null},"institutions":[{"id":"https://openalex.org/I1301102746","display_name":"Renault (France)","ror":"https://ror.org/04v98kq37","country_code":"FR","type":"company","lineage":["https://openalex.org/I1301102746"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Nicole El Zoghby","raw_affiliation_strings":["Department of data fusion, Technocentre Renault, France","Technocentre Renault,Department of data fusion,France,78280"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of data fusion, Technocentre Renault, France","institution_ids":["https://openalex.org/I1301102746"]},{"raw_affiliation_string":"Technocentre Renault,Department of data fusion,France,78280","institution_ids":["https://openalex.org/I1301102746"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082269670","display_name":"Guillaume Sandou","orcid":"https://orcid.org/0000-0003-1692-0488"},"institutions":[{"id":"https://openalex.org/I102475099","display_name":"Sup\u00e9lec","ror":"https://ror.org/00n7gwn90","country_code":"FR","type":"education","lineage":["https://openalex.org/I102475099"]},{"id":"https://openalex.org/I4210107720","display_name":"CentraleSup\u00e9lec","ror":"https://ror.org/019tcpt25","country_code":"FR","type":"facility","lineage":["https://openalex.org/I277688954","https://openalex.org/I4210107720"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Guillaume Sandou","raw_affiliation_strings":["Laboratoire des signaux et des syst\u00e8mes, Centrale-Sup\u00e9lec, France","Centrale-Sup\u00e9lec,Laboratoire des signaux et des syst\u00e8mes,France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratoire des signaux et des syst\u00e8mes, Centrale-Sup\u00e9lec, France","institution_ids":["https://openalex.org/I102475099","https://openalex.org/I4210107720"]},{"raw_affiliation_string":"Centrale-Sup\u00e9lec,Laboratoire des signaux et des syst\u00e8mes,France","institution_ids":["https://openalex.org/I102475099","https://openalex.org/I4210107720"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063014013","display_name":"Dominique Beauvois","orcid":null},"institutions":[{"id":"https://openalex.org/I102475099","display_name":"Sup\u00e9lec","ror":"https://ror.org/00n7gwn90","country_code":"FR","type":"education","lineage":["https://openalex.org/I102475099"]},{"id":"https://openalex.org/I4210107720","display_name":"CentraleSup\u00e9lec","ror":"https://ror.org/019tcpt25","country_code":"FR","type":"facility","lineage":["https://openalex.org/I277688954","https://openalex.org/I4210107720"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Dominique Beauvois","raw_affiliation_strings":["Laboratoire des signaux et des syst\u00e8mes, Centrale-Sup\u00e9lec, France","Centrale-Sup\u00e9lec,Laboratoire des signaux et des syst\u00e8mes,France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratoire des signaux et des syst\u00e8mes, Centrale-Sup\u00e9lec, France","institution_ids":["https://openalex.org/I102475099","https://openalex.org/I4210107720"]},{"raw_affiliation_string":"Centrale-Sup\u00e9lec,Laboratoire des signaux et des syst\u00e8mes,France","institution_ids":["https://openalex.org/I102475099","https://openalex.org/I4210107720"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5026351853","display_name":"Guillermo Pita Gil","orcid":null},"institutions":[{"id":"https://openalex.org/I1301102746","display_name":"Renault (France)","ror":"https://ror.org/04v98kq37","country_code":"FR","type":"company","lineage":["https://openalex.org/I1301102746"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Guillermo Pita Gil","raw_affiliation_strings":["Department of data fusion, Technocentre Renault, France","Technocentre Renault,Department of data fusion,France,78280"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of data fusion, Technocentre Renault, France","institution_ids":["https://openalex.org/I1301102746"]},{"raw_affiliation_string":"Technocentre Renault,Department of data fusion,France,78280","institution_ids":["https://openalex.org/I1301102746"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.6113,"has_fulltext":true,"cited_by_count":9,"citation_normalized_percentile":{"value":0.6871504,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"9638","last_page":"9644"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9995999932289124,"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":0.9995999932289124,"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":0.9848999977111816,"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/T12759","display_name":"Vehicle Noise and Vibration Control","score":0.9751999974250793,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7428842782974243},{"id":"https://openalex.org/keywords/modal","display_name":"Modal","score":0.6484737396240234},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.6435364484786987},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.6218057870864868},{"id":"https://openalex.org/keywords/encoding","display_name":"Encoding (memory)","score":0.5414744019508362},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.482028603553772},{"id":"https://openalex.org/keywords/grid","display_name":"Grid","score":0.46646344661712646},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4383712112903595},{"id":"https://openalex.org/keywords/head","display_name":"Head (geology)","score":0.43166375160217285},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.10710504651069641},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.08259493112564087}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7428842782974243},{"id":"https://openalex.org/C71139939","wikidata":"https://www.wikidata.org/wiki/Q910194","display_name":"Modal","level":2,"score":0.6484737396240234},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.6435364484786987},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.6218057870864868},{"id":"https://openalex.org/C125411270","wikidata":"https://www.wikidata.org/wiki/Q18653","display_name":"Encoding (memory)","level":2,"score":0.5414744019508362},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.482028603553772},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.46646344661712646},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4383712112903595},{"id":"https://openalex.org/C2780312720","wikidata":"https://www.wikidata.org/wiki/Q5689100","display_name":"Head (geology)","level":2,"score":0.43166375160217285},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.10710504651069641},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.08259493112564087},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C188027245","wikidata":"https://www.wikidata.org/wiki/Q750446","display_name":"Polymer chemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C170154142","wikidata":"https://www.wikidata.org/wiki/Q150737","display_name":"Architectural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C114793014","wikidata":"https://www.wikidata.org/wiki/Q52109","display_name":"Geomorphology","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/icra40945.2020.9197340","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197340","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1910.03650","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1910.03650","pdf_url":"https://arxiv.org/pdf/1910.03650","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"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":"","raw_type":"text"},{"id":"mag:2993977494","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/1910.03650.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"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":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.1910.03650","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1910.03650","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"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":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1910.03650","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1910.03650","pdf_url":"https://arxiv.org/pdf/1910.03650","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"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":"","raw_type":"text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.8100000023841858,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2993977494.pdf","grobid_xml":"https://content.openalex.org/works/W2993977494.grobid-xml"},"referenced_works_count":28,"referenced_works":["https://openalex.org/W1579853615","https://openalex.org/W2037079232","https://openalex.org/W2064675550","https://openalex.org/W2097545165","https://openalex.org/W2167052694","https://openalex.org/W2424778531","https://openalex.org/W2560609797","https://openalex.org/W2739974901","https://openalex.org/W2766836212","https://openalex.org/W2793483732","https://openalex.org/W2803184913","https://openalex.org/W2950802180","https://openalex.org/W2953920792","https://openalex.org/W2955189650","https://openalex.org/W2961924345","https://openalex.org/W2962687116","https://openalex.org/W2963001155","https://openalex.org/W2963165299","https://openalex.org/W2964121744","https://openalex.org/W2967177252","https://openalex.org/W2969294606","https://openalex.org/W2989851631","https://openalex.org/W3105115779","https://openalex.org/W6631190155","https://openalex.org/W6634817459","https://openalex.org/W6739901393","https://openalex.org/W6752001723","https://openalex.org/W6766065261"],"related_works":["https://openalex.org/W3090166818","https://openalex.org/W2803332797","https://openalex.org/W3210319156","https://openalex.org/W3210571505","https://openalex.org/W2991320036","https://openalex.org/W2784715585","https://openalex.org/W2762651111","https://openalex.org/W2117274638","https://openalex.org/W3026003508","https://openalex.org/W2608536805","https://openalex.org/W3041517319","https://openalex.org/W1997491374","https://openalex.org/W2901082392","https://openalex.org/W3091155851","https://openalex.org/W3209693651","https://openalex.org/W3089418799","https://openalex.org/W3193820759","https://openalex.org/W2039531374","https://openalex.org/W2203271201","https://openalex.org/W3158006502"],"abstract_inverted_index":{"This":[0,77],"paper":[1],"presents":[2],"a":[3,21,74],"novel":[4],"vehicle":[5,59],"motion":[6],"forecasting":[7,90],"method":[8],"based":[9],"on":[10,20,58,108],"multi-head":[11,37],"attention.":[12],"It":[13,55],"produces":[14],"joint":[15,93],"forecasts":[16],"for":[17,41,51],"all":[18,44],"vehicles":[19],"road":[22],"scene":[23,72],"as":[24,73],"sequences":[25],"of":[26,31],"multi-modal":[27],"probability":[28],"density":[29],"functions":[30],"their":[32],"positions.":[33],"Its":[34],"architecture":[35],"uses":[36],"attention":[38],"to":[39,80],"account":[40],"interactions":[42],"between":[43],"vehicles,":[45],"and":[46,53,67,99],"long":[47],"short-term":[48],"memory":[49],"layers":[50],"encoding":[52],"forecasting.":[54],"relies":[56],"solely":[57],"position":[60],"tracks,":[61],"does":[62,68],"not":[63,69],"need":[64],"maneuver":[65],"definitions,":[66],"rasterize":[70],"the":[71,109],"spatial":[75],"grid.":[76],"allows":[78],"it":[79],"be":[81],"more":[82],"versatile":[83],"than":[84],"similar":[85],"model":[86],"while":[87],"combining":[88],"many":[89],"capabilities,":[91],"namely":[92],"forecast":[94],"with":[95],"interactions,":[96],"uncertainty":[97],"estimation,":[98],"multi-modality.":[100],"The":[101],"resulting":[102],"prediction":[103],"likelihood":[104],"outperforms":[105],"state-of-the-art":[106],"models":[107],"same":[110],"dataset.":[111]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
