{"id":"https://openalex.org/W3088774622","doi":"https://doi.org/10.1109/icra40945.2020.9197495","title":"Goal-Directed Occupancy Prediction for Lane-Following Actors","display_name":"Goal-Directed Occupancy Prediction for Lane-Following Actors","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W3088774622","doi":"https://doi.org/10.1109/icra40945.2020.9197495","mag":"3088774622"},"language":"en","primary_location":{"id":"doi:10.1109/icra40945.2020.9197495","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197495","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/2009.12174","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5067155395","display_name":"Poornima Kaniarasu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Poornima Kaniarasu","raw_affiliation_strings":["Research conducted at Uber ATG, Pittsburgh, PA, USA","Research conducted at Uber ATG,Pittsburgh,PA,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research conducted at Uber ATG, Pittsburgh, PA, USA","institution_ids":[]},{"raw_affiliation_string":"Research conducted at Uber ATG,Pittsburgh,PA,USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109258952","display_name":"Galen Clark Haynes","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Galen Clark Haynes","raw_affiliation_strings":["Research conducted at Uber ATG, Pittsburgh, PA, USA","Research conducted at Uber ATG,Pittsburgh,PA,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research conducted at Uber ATG, Pittsburgh, PA, USA","institution_ids":[]},{"raw_affiliation_string":"Research conducted at Uber ATG,Pittsburgh,PA,USA","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5012471136","display_name":"Micol Marchetti-Bowick","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Micol Marchetti-Bowick","raw_affiliation_strings":["Research conducted at Uber ATG, Pittsburgh, PA, USA","Research conducted at Uber ATG,Pittsburgh,PA,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research conducted at Uber ATG, Pittsburgh, PA, USA","institution_ids":[]},{"raw_affiliation_string":"Research conducted at Uber ATG,Pittsburgh,PA,USA","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.1019,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.46450225,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"3270","last_page":"3276"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9998999834060669,"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":0.9998999834060669,"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/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.9955000281333923,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11512","display_name":"Anomaly Detection Techniques and Applications","score":0.994700014591217,"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/occupancy","display_name":"Occupancy","score":0.84017014503479},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.6757156848907471},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6738947629928589},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6469711661338806},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5991017818450928},{"id":"https://openalex.org/keywords/action","display_name":"Action (physics)","score":0.49070441722869873},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.48623552918434143},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.46588391065597534},{"id":"https://openalex.org/keywords/modality","display_name":"Modality (human\u2013computer interaction)","score":0.4582357704639435},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.4330369234085083},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.39322346448898315},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.2653755843639374},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1389131247997284},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.11144739389419556}],"concepts":[{"id":"https://openalex.org/C160331591","wikidata":"https://www.wikidata.org/wiki/Q7075743","display_name":"Occupancy","level":2,"score":0.84017014503479},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.6757156848907471},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6738947629928589},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6469711661338806},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5991017818450928},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.49070441722869873},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.48623552918434143},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.46588391065597534},{"id":"https://openalex.org/C2780226545","wikidata":"https://www.wikidata.org/wiki/Q6888030","display_name":"Modality (human\u2013computer interaction)","level":2,"score":0.4582357704639435},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.4330369234085083},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.39322346448898315},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.2653755843639374},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1389131247997284},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.11144739389419556},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/icra40945.2020.9197495","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197495","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:2009.12174","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2009.12174","pdf_url":"https://arxiv.org/pdf/2009.12174","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:3088774622","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/2009.12174","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.2009.12174","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2009.12174","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:2009.12174","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2009.12174","pdf_url":"https://arxiv.org/pdf/2009.12174","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":[{"score":0.7900000214576721,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3088774622.pdf","grobid_xml":"https://content.openalex.org/works/W3088774622.grobid-xml"},"referenced_works_count":31,"referenced_works":["https://openalex.org/W1652644688","https://openalex.org/W1749494163","https://openalex.org/W2012849708","https://openalex.org/W2055556996","https://openalex.org/W2091281530","https://openalex.org/W2105934661","https://openalex.org/W2153323685","https://openalex.org/W2245440101","https://openalex.org/W2557519264","https://openalex.org/W2623321900","https://openalex.org/W2777944184","https://openalex.org/W2798930779","https://openalex.org/W2886617718","https://openalex.org/W2893741601","https://openalex.org/W2898900571","https://openalex.org/W2948479456","https://openalex.org/W2950891689","https://openalex.org/W2950950272","https://openalex.org/W2962901581","https://openalex.org/W2963120444","https://openalex.org/W2963858432","https://openalex.org/W3010427722","https://openalex.org/W3106257603","https://openalex.org/W3114753236","https://openalex.org/W6673143765","https://openalex.org/W6753376238","https://openalex.org/W6754899213","https://openalex.org/W6755864109","https://openalex.org/W6756871163","https://openalex.org/W6764068339","https://openalex.org/W6785849211"],"related_works":["https://openalex.org/W3091179814","https://openalex.org/W2777944184","https://openalex.org/W3209747740","https://openalex.org/W2563942012","https://openalex.org/W3131807685","https://openalex.org/W2945391796","https://openalex.org/W3145940058","https://openalex.org/W3131888273","https://openalex.org/W3200533894","https://openalex.org/W2963489164","https://openalex.org/W3159465986","https://openalex.org/W3016826426","https://openalex.org/W2991081414","https://openalex.org/W2962728865","https://openalex.org/W2975065512","https://openalex.org/W3210631399","https://openalex.org/W2794590770","https://openalex.org/W2972490392","https://openalex.org/W2903883927","https://openalex.org/W3034955524"],"abstract_inverted_index":{"Predicting":[0],"the":[1,49,56,63,77,88,112,122,131],"possible":[2,30,54,84],"future":[3,89,106],"behaviors":[4,32],"of":[5,37,52,92],"vehicles":[6],"that":[7,75,98,108],"drive":[8],"on":[9,121],"shared":[10],"roads":[11],"is":[12,101],"a":[13,34,72],"crucial":[14],"task":[15],"for":[16],"safe":[17],"autonomous":[18],"driving.":[19],"Many":[20],"existing":[21],"approaches":[22],"to":[23,27,47,81,103],"this":[24,68],"problem":[25,134],"strive":[26],"distill":[28],"all":[29],"vehicle":[31],"into":[33],"simplified":[35],"set":[36],"high-level":[38],"actions.":[39],"However,":[40],"these":[41],"action":[42],"categories":[43],"do":[44],"not":[45,128],"suffice":[46],"describe":[48],"full":[50],"range":[51],"maneuvers":[53],"in":[55,62,136],"complex":[57],"road":[58,79,94],"networks":[59],"we":[60,70],"encounter":[61],"real":[64],"world.":[65],"To":[66],"combat":[67],"deficiency,":[69],"propose":[71],"new":[73],"method":[74],"leverages":[76],"mapped":[78,113],"topology":[80],"reason":[82],"over":[83],"goals":[85],"and":[86,116],"predict":[87,105],"spatial":[90],"occupancy":[91,107],"dynamic":[93],"actors.":[95],"We":[96],"show":[97],"our":[99],"approach":[100],"able":[102],"accurately":[104],"remains":[109],"consistent":[110],"with":[111],"lane":[114],"geometry":[115],"naturally":[117],"captures":[118],"multi-modality":[119],"based":[120],"local":[123],"scene":[124],"context":[125],"while":[126],"also":[127],"suffering":[129],"from":[130],"mode":[132],"collapse":[133],"observed":[135],"prior":[137],"work.":[138]},"counts_by_year":[{"year":2020,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
