{"id":"https://openalex.org/W3214950490","doi":"https://doi.org/10.1109/icra46639.2022.9812107","title":"MultiPath++: Efficient Information Fusion and Trajectory Aggregation for Behavior Prediction","display_name":"MultiPath++: Efficient Information Fusion and Trajectory Aggregation for Behavior Prediction","publication_year":2022,"publication_date":"2022-05-23","ids":{"openalex":"https://openalex.org/W3214950490","doi":"https://doi.org/10.1109/icra46639.2022.9812107","mag":"3214950490"},"language":"en","primary_location":{"id":"doi:10.1109/icra46639.2022.9812107","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9812107","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5114118962","display_name":"Balakrishnan Varadarajan","orcid":null},"institutions":[{"id":"https://openalex.org/I2800240351","display_name":"Mountain View College","ror":"https://ror.org/04fh8an03","country_code":"US","type":"education","lineage":["https://openalex.org/I1291072267","https://openalex.org/I2800240351"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Balakrishnan Varadarajan","raw_affiliation_strings":["Waymo,Mountain View,California,USA","Waymo, Mountain View, California, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Waymo,Mountain View,California,USA","institution_ids":["https://openalex.org/I2800240351"]},{"raw_affiliation_string":"Waymo, Mountain View, California, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003652981","display_name":"Ahmed Hefny","orcid":null},"institutions":[{"id":"https://openalex.org/I2800240351","display_name":"Mountain View College","ror":"https://ror.org/04fh8an03","country_code":"US","type":"education","lineage":["https://openalex.org/I1291072267","https://openalex.org/I2800240351"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ahmed Hefny","raw_affiliation_strings":["Waymo,Mountain View,California,USA","Waymo, Mountain View, California, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Waymo,Mountain View,California,USA","institution_ids":["https://openalex.org/I2800240351"]},{"raw_affiliation_string":"Waymo, Mountain View, California, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083337582","display_name":"Avikalp Srivastava","orcid":null},"institutions":[{"id":"https://openalex.org/I2800240351","display_name":"Mountain View College","ror":"https://ror.org/04fh8an03","country_code":"US","type":"education","lineage":["https://openalex.org/I1291072267","https://openalex.org/I2800240351"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Avikalp Srivastava","raw_affiliation_strings":["Waymo,Mountain View,California,USA","Waymo, Mountain View, California, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Waymo,Mountain View,California,USA","institution_ids":["https://openalex.org/I2800240351"]},{"raw_affiliation_string":"Waymo, Mountain View, California, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031024662","display_name":"Khaled S. Refaat","orcid":null},"institutions":[{"id":"https://openalex.org/I2800240351","display_name":"Mountain View College","ror":"https://ror.org/04fh8an03","country_code":"US","type":"education","lineage":["https://openalex.org/I1291072267","https://openalex.org/I2800240351"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Khaled S. Refaat","raw_affiliation_strings":["Waymo,Mountain View,California,USA","Waymo, Mountain View, California, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Waymo,Mountain View,California,USA","institution_ids":["https://openalex.org/I2800240351"]},{"raw_affiliation_string":"Waymo, Mountain View, California, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046495533","display_name":"Nigamaa Nayakanti","orcid":null},"institutions":[{"id":"https://openalex.org/I2800240351","display_name":"Mountain View College","ror":"https://ror.org/04fh8an03","country_code":"US","type":"education","lineage":["https://openalex.org/I1291072267","https://openalex.org/I2800240351"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nigamaa Nayakanti","raw_affiliation_strings":["Waymo,Mountain View,California,USA","Waymo, Mountain View, California, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Waymo,Mountain View,California,USA","institution_ids":["https://openalex.org/I2800240351"]},{"raw_affiliation_string":"Waymo, Mountain View, California, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053182934","display_name":"Andre Cornman","orcid":null},"institutions":[{"id":"https://openalex.org/I2800240351","display_name":"Mountain View College","ror":"https://ror.org/04fh8an03","country_code":"US","type":"education","lineage":["https://openalex.org/I1291072267","https://openalex.org/I2800240351"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Andre Cornman","raw_affiliation_strings":["Waymo,Mountain View,California,USA","Waymo, Mountain View, California, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Waymo,Mountain View,California,USA","institution_ids":["https://openalex.org/I2800240351"]},{"raw_affiliation_string":"Waymo, Mountain View, California, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100636633","display_name":"Kan Chen","orcid":"https://orcid.org/0000-0003-3628-6699"},"institutions":[{"id":"https://openalex.org/I2800240351","display_name":"Mountain View College","ror":"https://ror.org/04fh8an03","country_code":"US","type":"education","lineage":["https://openalex.org/I1291072267","https://openalex.org/I2800240351"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kan Chen","raw_affiliation_strings":["Waymo,Mountain View,California,USA","Waymo, Mountain View, California, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Waymo,Mountain View,California,USA","institution_ids":["https://openalex.org/I2800240351"]},{"raw_affiliation_string":"Waymo, Mountain View, California, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022459396","display_name":"Bertrand Douillard","orcid":null},"institutions":[{"id":"https://openalex.org/I2800240351","display_name":"Mountain View College","ror":"https://ror.org/04fh8an03","country_code":"US","type":"education","lineage":["https://openalex.org/I1291072267","https://openalex.org/I2800240351"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Bertrand Douillard","raw_affiliation_strings":["Waymo,Mountain View,California,USA","Waymo, Mountain View, California, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Waymo,Mountain View,California,USA","institution_ids":["https://openalex.org/I2800240351"]},{"raw_affiliation_string":"Waymo, Mountain View, California, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047596405","display_name":"Chi Pang Lam","orcid":null},"institutions":[{"id":"https://openalex.org/I2800240351","display_name":"Mountain View College","ror":"https://ror.org/04fh8an03","country_code":"US","type":"education","lineage":["https://openalex.org/I1291072267","https://openalex.org/I2800240351"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Chi Pang Lam","raw_affiliation_strings":["Waymo,Mountain View,California,USA","Waymo, Mountain View, California, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Waymo,Mountain View,California,USA","institution_ids":["https://openalex.org/I2800240351"]},{"raw_affiliation_string":"Waymo, Mountain View, California, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081024054","display_name":"Dragomir Anguelov","orcid":null},"institutions":[{"id":"https://openalex.org/I2800240351","display_name":"Mountain View College","ror":"https://ror.org/04fh8an03","country_code":"US","type":"education","lineage":["https://openalex.org/I1291072267","https://openalex.org/I2800240351"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dragomir Anguelov","raw_affiliation_strings":["Waymo,Mountain View,California,USA","Waymo, Mountain View, California, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Waymo,Mountain View,California,USA","institution_ids":["https://openalex.org/I2800240351"]},{"raw_affiliation_string":"Waymo, Mountain View, California, USA","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5014258241","display_name":"Benjamin Sapp","orcid":null},"institutions":[{"id":"https://openalex.org/I2800240351","display_name":"Mountain View College","ror":"https://ror.org/04fh8an03","country_code":"US","type":"education","lineage":["https://openalex.org/I1291072267","https://openalex.org/I2800240351"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Benjamin Sapp","raw_affiliation_strings":["Waymo,Mountain View,California,USA","Waymo, Mountain View, California, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Waymo,Mountain View,California,USA","institution_ids":["https://openalex.org/I2800240351"]},{"raw_affiliation_string":"Waymo, Mountain View, California, USA","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I2800240351"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":289,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"7814","last_page":"7821"},"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/T10370","display_name":"Traffic and Road Safety","score":0.9980000257492065,"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/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.983299970626831,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8264355063438416},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.6272386312484741},{"id":"https://openalex.org/keywords/multipath-propagation","display_name":"Multipath propagation","score":0.5900559425354004},{"id":"https://openalex.org/keywords/encoding","display_name":"Encoding (memory)","score":0.5885201096534729},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5317063927650452},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.5275753736495972},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.4744266867637634},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4486890733242035},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.40209561586380005},{"id":"https://openalex.org/keywords/channel","display_name":"Channel (broadcasting)","score":0.22137272357940674}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8264355063438416},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.6272386312484741},{"id":"https://openalex.org/C161218011","wikidata":"https://www.wikidata.org/wiki/Q11827794","display_name":"Multipath propagation","level":3,"score":0.5900559425354004},{"id":"https://openalex.org/C125411270","wikidata":"https://www.wikidata.org/wiki/Q18653","display_name":"Encoding (memory)","level":2,"score":0.5885201096534729},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5317063927650452},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.5275753736495972},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.4744266867637634},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4486890733242035},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.40209561586380005},{"id":"https://openalex.org/C127162648","wikidata":"https://www.wikidata.org/wiki/Q16858953","display_name":"Channel (broadcasting)","level":2,"score":0.22137272357940674},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra46639.2022.9812107","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9812107","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7300000190734863,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":81,"referenced_works":["https://openalex.org/W1554944419","https://openalex.org/W1663973292","https://openalex.org/W2009086942","https://openalex.org/W2049633694","https://openalex.org/W2171033594","https://openalex.org/W2194775991","https://openalex.org/W2293372129","https://openalex.org/W2424778531","https://openalex.org/W2560609797","https://openalex.org/W2607296803","https://openalex.org/W2794787653","https://openalex.org/W2798725844","https://openalex.org/W2894384847","https://openalex.org/W2894978157","https://openalex.org/W2898900571","https://openalex.org/W2925148167","https://openalex.org/W2949309567","https://openalex.org/W2950268548","https://openalex.org/W2953273646","https://openalex.org/W2955189650","https://openalex.org/W2963001155","https://openalex.org/W2963403868","https://openalex.org/W2963759562","https://openalex.org/W2967177252","https://openalex.org/W2968008415","https://openalex.org/W2970116586","https://openalex.org/W2980087597","https://openalex.org/W2980160556","https://openalex.org/W2982745079","https://openalex.org/W2983397630","https://openalex.org/W2986406093","https://openalex.org/W2989704640","https://openalex.org/W2994612440","https://openalex.org/W3000520642","https://openalex.org/W3004408449","https://openalex.org/W3009389623","https://openalex.org/W3012478636","https://openalex.org/W3028769608","https://openalex.org/W3032731803","https://openalex.org/W3034722190","https://openalex.org/W3035339264","https://openalex.org/W3035574168","https://openalex.org/W3035671534","https://openalex.org/W3035692480","https://openalex.org/W3045906651","https://openalex.org/W3062588417","https://openalex.org/W3081405043","https://openalex.org/W3090166818","https://openalex.org/W3090202852","https://openalex.org/W3090789587","https://openalex.org/W3094127770","https://openalex.org/W3096609285","https://openalex.org/W3107552218","https://openalex.org/W3108486966","https://openalex.org/W3119786062","https://openalex.org/W3156216502","https://openalex.org/W3171077607","https://openalex.org/W3171087525","https://openalex.org/W3172477795","https://openalex.org/W3175846102","https://openalex.org/W3180491419","https://openalex.org/W3196864007","https://openalex.org/W3205301818","https://openalex.org/W3209837334","https://openalex.org/W4287373991","https://openalex.org/W4287685696","https://openalex.org/W6754877132","https://openalex.org/W6755864109","https://openalex.org/W6763422710","https://openalex.org/W6767342764","https://openalex.org/W6773443883","https://openalex.org/W6774330597","https://openalex.org/W6775168941","https://openalex.org/W6778485988","https://openalex.org/W6781231738","https://openalex.org/W6782088249","https://openalex.org/W6782468546","https://openalex.org/W6784270447","https://openalex.org/W6796929002","https://openalex.org/W6798276203","https://openalex.org/W6800926788"],"related_works":["https://openalex.org/W2376969857","https://openalex.org/W4323768008","https://openalex.org/W1941703695","https://openalex.org/W614679600","https://openalex.org/W3131574667","https://openalex.org/W2110252992","https://openalex.org/W4360995134","https://openalex.org/W4248382324","https://openalex.org/W2365309764","https://openalex.org/W3023605104"],"abstract_inverted_index":{"Predicting":[0],"the":[1,10,31,67,89,142,159,201,208],"future":[2,55],"behavior":[3],"of":[4,9,33,88,95,99,128,144],"road":[5,111],"users":[6],"is":[7,81],"one":[8],"most":[11],"challenging":[12],"and":[13,37,40,106,113,131,148,165,191,207],"important":[14],"problems":[15],"in":[16,30,93,158,169],"autonomous":[17],"driving.":[18],"Applying":[19],"deep":[20],"learning":[21],"to":[22,109,152],"this":[23,49],"problem":[24],"requires":[25],"fusing":[26],"heterogeneous":[27,100],"world":[28,91],"state":[29,92,116],"form":[32],"rich":[34],"perception":[35],"signals":[36],"map":[38],"information,":[39],"inferring":[41],"highly":[42],"multi-modal":[43],"distributions":[44],"over":[45],"possible":[46],"futures.":[47],"In":[48],"paper,":[50],"we":[51,140,162],"present":[52],"MultiPath++,":[53],"a":[54,82,96,125,133,150],"prediction":[56],"model":[57,196],"that":[58,193],"achieves":[59,197],"state-of-the-art":[60,198],"performance":[61,199],"on":[62,187,200],"popular":[63],"benchmarks.":[64],"MultiPath++":[65,103],"improves":[66],"MultiPath":[68],"architecture":[69],"[34]":[70],"by":[71],"revisiting":[72],"many":[73],"design":[74,79,189],"choices.":[75],"The":[76],"first":[77],"key":[78],"difference":[80],"departure":[83],"from":[84],"dense":[85],"image-based":[86],"encoding":[87,98],"input":[90],"favor":[94],"sparse":[97],"scene":[101],"elements:":[102],"consumes":[104],"compact":[105],"efficient":[107],"polylines":[108],"describe":[110],"features,":[112],"raw":[114],"agent":[115],"information":[117],"directly":[118],"(e.g.,":[119],"position,":[120],"velocity,":[121],"acceleration).":[122],"We":[123,182],"propose":[124],"context-aware":[126],"fusion":[127,137],"these":[129,188],"elements":[130],"develop":[132,149],"reusable":[134],"multi-context":[135],"gating":[136],"component.":[138],"Second,":[139],"reconsider":[141],"choice":[143],"pre-defined":[145],"static":[146],"anchors,":[147],"way":[151],"learn":[153],"latent":[154],"anchor":[155],"embeddings":[156],"end-to-end":[157],"model.":[160],"Lastly,":[161],"explore":[163],"ensembling":[164],"output":[166,180],"aggregation":[167],"techniques\u2014common":[168],"other":[170],"ML":[171],"domains\u2014and":[172],"find":[173],"effective":[174],"variants":[175],"for":[176],"our":[177,194],"probabilistic":[178],"multimodal":[179],"representation.":[181],"perform":[183],"an":[184],"extensive":[185],"ablation":[186],"choices,":[190],"show":[192],"proposed":[195],"Argoverse":[202],"Motion":[203,212],"Forecasting":[204],"Competition":[205],"[10]":[206],"Waymo":[209],"Open":[210],"Dataset":[211],"Prediction":[213],"Challenge":[214],"[13].":[215]},"counts_by_year":[{"year":2026,"cited_by_count":17},{"year":2025,"cited_by_count":91},{"year":2024,"cited_by_count":85},{"year":2023,"cited_by_count":84},{"year":2022,"cited_by_count":12}],"updated_date":"2026-07-17T09:13:05.818461","created_date":"2025-10-10T00:00:00"}
